Victor Mylle
5880997786
Unified the two separate sysid codepaths (motor-only and full-system) into a single module that optimizes all 28 parameters jointly: - 13 motor params (asymmetric gear, damping, friction, deadzone, Stribeck boost, action bias, filter tau, armature, ctrl_limit) - 15 pendulum/arm params (mass, CoM, inertia, joint dynamics) Key changes: - Added stribeck_friction_boost, stribeck_vel, action_bias to ActuatorConfig (robot.py) and MJX runner - Created shared src/sysid/preprocess.py (SG velocity recomputation) - Rewrote src/sysid/rollout.py with unified MOTOR_PARAMS + PENDULUM_PARAMS spec and PARAM_SETS dict for flexible subset optimization - Updated optimize.py, export.py, visualize.py to use unified params (removed all LOCKED_MOTOR_PARAMS references) - Removed src/sysid/motor/ module and scripts/motor_sysid.py Net: -1383 lines, zero code duplication between motor and full-system sysid.
40 lines
1.3 KiB
Python
40 lines
1.3 KiB
Python
"""Unit tests for MuJoCoRunner domain randomization."""
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import dataclasses
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import numpy as np
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import pytest
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from src.runners.mujoco import DomainRandConfig, MuJoCoRunnerConfig
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class TestDomainRandConfig:
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def test_default_all_zero(self) -> None:
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cfg = DomainRandConfig()
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assert cfg.mass_frac == 0.0
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assert cfg.friction_frac == 0.0
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assert cfg.gear_frac == 0.0
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def test_from_dict(self) -> None:
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d = {"mass_frac": 0.15, "gear_frac": 0.1}
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cfg = DomainRandConfig(**d)
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assert cfg.mass_frac == 0.15
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assert cfg.gear_frac == 0.1
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assert cfg.damping_frac == 0.0 # not set
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class TestMuJoCoRunnerConfig:
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def test_default_dr_disabled(self) -> None:
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cfg = MuJoCoRunnerConfig()
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assert isinstance(cfg.domain_rand, DomainRandConfig)
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assert cfg.domain_rand.mass_frac == 0.0
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def test_domain_rand_from_dict(self) -> None:
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"""Hydra passes nested configs as dicts — test __post_init__ converts."""
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cfg = MuJoCoRunnerConfig(
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domain_rand={"mass_frac": 0.2, "friction_frac": 0.3}, # type: ignore[arg-type]
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)
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assert isinstance(cfg.domain_rand, DomainRandConfig)
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assert cfg.domain_rand.mass_frac == 0.2
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assert cfg.domain_rand.friction_frac == 0.3
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