Erik Frey
b3ccf67ebf
PiperOrigin-RevId: 588304729 Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
76 lines
2.5 KiB
Python
76 lines
2.5 KiB
Python
# Copyright 2023 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Tests for constraint functions."""
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from absl.testing import absltest
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import jax
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import mujoco
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from mujoco import mjx
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from mujoco.mjx._src import test_util
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import numpy as np
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# tolerance for difference between MuJoCo and MJX constraint calculations,
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# mostly due to float precision
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_TOLERANCE = 5e-5
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def _assert_eq(a, b, name, tol=_TOLERANCE):
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tol = tol * 10 # avoid test noise
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err_msg = f'mismatch: {name}'
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np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
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def _assert_attr_eq(a, b, attr):
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_assert_eq(getattr(a, attr), getattr(b, attr), attr)
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class SolverTest(absltest.TestCase):
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def test_solver(self):
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"""Test solver."""
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m = test_util.load_test_file('constraints.xml')
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d = mujoco.MjData(m)
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mujoco.mj_step(m, d, 100) # at 100 steps mix of active/inactive constraints
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
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_assert_attr_eq(d, dx, 'qacc_warmstart')
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_assert_attr_eq(d, dx, 'qacc')
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_assert_attr_eq(d, dx, 'qfrc_constraint')
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nnz = dx.efc_J.any(axis=1)
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_assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force')
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# also test normal CG
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m.opt.solver = mujoco.mjtSolver.mjSOL_CG
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mujoco.mj_forward(m, d)
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dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
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_assert_attr_eq(d, dx, 'qacc_warmstart')
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_assert_attr_eq(d, dx, 'qacc')
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_assert_attr_eq(d, dx, 'qfrc_constraint')
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_assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force')
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# without warmstart, the solution is not as close
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m.opt.solver = mujoco.mjtSolver.mjSOL_NEWTON
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m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_WARMSTART
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
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_assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force', tol=2e-2)
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if __name__ == '__main__':
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absltest.main()
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