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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from isaaclab.app import AppLauncher
HEADLESS = True
# if not AppLauncher.instance():
simulation_app = AppLauncher(headless=HEADLESS).app
"""Rest of imports follows"""
import pytest
import torch
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.sim import build_simulation_context
@pytest.fixture
def sim(request):
"""Create simulation context with the specified device."""
device = request.getfixturevalue("device")
with build_simulation_context(device=device) as sim:
sim._app_control_on_stop_handle = None
yield sim
@pytest.mark.parametrize("num_envs", [1, 2])
@pytest.mark.parametrize("num_joints", [1, 2])
@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
@pytest.mark.parametrize("usd_default", [False, True])
def test_implicit_actuator_init_minimum(sim, num_envs, num_joints, device, usd_default):
"""Test initialization of implicit actuator with minimum configuration."""
joint_names = [f"joint_{d}" for d in range(num_joints)]
joint_ids = [d for d in range(num_joints)]
stiffness = None if usd_default else 200
damping = None if usd_default else 10
friction = None if usd_default else 0.1
armature = None if usd_default else 0.2
actuator_cfg = ImplicitActuatorCfg(
joint_names_expr=joint_names,
stiffness=stiffness,
damping=damping,
armature=armature,
friction=friction,
)
# assume Articulation class:
# - finds joints (names and ids) associate with the provided joint_names_expr
# faux usd defaults
stiffness_default = 300
damping_default = 20
friction_default = 0.0
armature_default = 0.0
actuator = actuator_cfg.class_type(
actuator_cfg,
joint_names=joint_names,
joint_ids=joint_ids,
num_envs=num_envs,
device=device,
stiffness=stiffness_default,
damping=damping_default,
friction=friction_default,
armature=armature_default,
)
# check initialized actuator
assert actuator.is_implicit_model is True
# check device and shape
torch.testing.assert_close(actuator.computed_effort, torch.zeros(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.applied_effort, torch.zeros(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.effort_limit, torch.inf * torch.ones(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.effort_limit_sim, torch.inf * torch.ones(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.velocity_limit, torch.inf * torch.ones(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.velocity_limit_sim, torch.inf * torch.ones(num_envs, num_joints, device=device))
if not usd_default:
torch.testing.assert_close(actuator.stiffness, stiffness * torch.ones(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.damping, damping * torch.ones(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.armature, armature * torch.ones(num_envs, num_joints, device=device))
torch.testing.assert_close(actuator.friction, friction * torch.ones(num_envs, num_joints, device=device))
else:
torch.testing.assert_close(
actuator.stiffness, stiffness_default * torch.ones(num_envs, num_joints, device=device)
)
torch.testing.assert_close(actuator.damping, damping_default * torch.ones(num_envs, num_joints, device=device))
torch.testing.assert_close(
actuator.armature, armature_default * torch.ones(num_envs, num_joints, device=device)
)
torch.testing.assert_close(
actuator.friction, friction_default * torch.ones(num_envs, num_joints, device=device)
)
@pytest.mark.parametrize("num_envs", [1, 2])
@pytest.mark.parametrize("num_joints", [1, 2])
@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
@pytest.mark.parametrize("effort_lim", [None, 300, 200])
@pytest.mark.parametrize("effort_lim_sim", [None, 400, 200])
def test_implicit_actuator_init_effort_limits(sim, num_envs, num_joints, device, effort_lim, effort_lim_sim):
"""Test initialization of implicit actuator with effort limits."""
effort_limit_default = 5000
joint_names = [f"joint_{d}" for d in range(num_joints)]
joint_ids = [d for d in range(num_joints)]
actuator_cfg = ImplicitActuatorCfg(
joint_names_expr=joint_names,
stiffness=200,
damping=10,
effort_limit=effort_lim,
effort_limit_sim=effort_lim_sim,
)
if effort_lim is not None and effort_lim_sim is not None and effort_lim != effort_lim_sim:
with pytest.raises(ValueError):
actuator = actuator_cfg.class_type(
actuator_cfg,
joint_names=joint_names,
joint_ids=joint_ids,
num_envs=num_envs,
device=device,
stiffness=actuator_cfg.stiffness,
damping=actuator_cfg.damping,
effort_limit=effort_limit_default,
)
else:
actuator = actuator_cfg.class_type(
actuator_cfg,
joint_names=joint_names,
joint_ids=joint_ids,
num_envs=num_envs,
device=device,
stiffness=actuator_cfg.stiffness,
damping=actuator_cfg.damping,
effort_limit=effort_limit_default,
)
if effort_lim is not None and effort_lim_sim is None:
assert actuator.cfg.effort_limit_sim == actuator.cfg.effort_limit
effort_lim_expected = effort_lim
effort_lim_sim_expected = effort_lim
elif effort_lim is None and effort_lim_sim is not None:
assert actuator.cfg.effort_limit_sim == actuator.cfg.effort_limit
effort_lim_expected = effort_lim_sim
effort_lim_sim_expected = effort_lim_sim
elif effort_lim is None and effort_lim_sim is None:
assert actuator.cfg.effort_limit_sim is None
assert actuator.cfg.effort_limit is None
effort_lim_expected = effort_limit_default
effort_lim_sim_expected = effort_limit_default
elif effort_lim is not None and effort_lim_sim is not None:
assert actuator.cfg.effort_limit_sim == actuator.cfg.effort_limit
effort_lim_expected = effort_lim
effort_lim_sim_expected = effort_lim_sim
torch.testing.assert_close(
actuator.effort_limit, effort_lim_expected * torch.ones(num_envs, num_joints, device=device)
)
torch.testing.assert_close(
actuator.effort_limit_sim, effort_lim_sim_expected * torch.ones(num_envs, num_joints, device=device)
)
@pytest.mark.parametrize("num_envs", [1, 2])
@pytest.mark.parametrize("num_joints", [1, 2])
@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
@pytest.mark.parametrize("velocity_lim", [None, 300, 200])
@pytest.mark.parametrize("velocity_lim_sim", [None, 400, 200])
def test_implicit_actuator_init_velocity_limits(sim, num_envs, num_joints, device, velocity_lim, velocity_lim_sim):
"""Test initialization of implicit actuator with velocity limits.
Note implicit actuators do no use velocity limits in computation, they are passed to physics via articulations.
"""
velocity_limit_default = 1000
joint_names = [f"joint_{d}" for d in range(num_joints)]
joint_ids = [d for d in range(num_joints)]
actuator_cfg = ImplicitActuatorCfg(
joint_names_expr=joint_names,
stiffness=200,
damping=10,
velocity_limit=velocity_lim,
velocity_limit_sim=velocity_lim_sim,
)
if velocity_lim is not None and velocity_lim_sim is not None and velocity_lim != velocity_lim_sim:
with pytest.raises(ValueError):
actuator = actuator_cfg.class_type(
actuator_cfg,
joint_names=joint_names,
joint_ids=joint_ids,
num_envs=num_envs,
device=device,
stiffness=actuator_cfg.stiffness,
damping=actuator_cfg.damping,
velocity_limit=velocity_limit_default,
)
else:
actuator = actuator_cfg.class_type(
actuator_cfg,
joint_names=joint_names,
joint_ids=joint_ids,
num_envs=num_envs,
device=device,
stiffness=actuator_cfg.stiffness,
damping=actuator_cfg.damping,
velocity_limit=velocity_limit_default,
)
if velocity_lim is not None and velocity_lim_sim is None:
assert actuator.cfg.velocity_limit is None
vel_lim_expected = velocity_limit_default
elif velocity_lim is None and velocity_lim_sim is not None:
assert actuator.cfg.velocity_limit == actuator.cfg.velocity_limit_sim
vel_lim_expected = velocity_lim_sim
elif velocity_lim is None and velocity_lim_sim is None:
assert actuator.cfg.velocity_limit is None
assert actuator.cfg.velocity_limit_sim is None
vel_lim_expected = velocity_limit_default
else:
assert actuator.cfg.velocity_limit == actuator.cfg.velocity_limit_sim
vel_lim_expected = velocity_lim_sim
torch.testing.assert_close(
actuator.velocity_limit, vel_lim_expected * torch.ones(num_envs, num_joints, device=device)
)
torch.testing.assert_close(
actuator.velocity_limit_sim, vel_lim_expected * torch.ones(num_envs, num_joints, device=device)
)
if __name__ == "__main__":
pytest.main([__file__, "-v", "--maxfail=1"])
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