Method testNstep

dm_control/mujoco/engine_test.py:627–663

(self)

    np.testing.assert_array_equal(spec.maximum, [mujoco.mjMAXVAL, 2.0])

  def testNstep(self):
    # Make initial state.
    with self._physics.reset_context():
      self._physics.data.qvel[0] = 1
      self._physics.data.qvel[1] = 1
    initial_state = self._physics.get_state()

    # step() 4 times.
    for _ in range(4):
      self._physics.step()
    for_loop_state = self._physics.get_state()

    # Reset state, call step(4).
    with self._physics.reset_context():
      self._physics.set_state(initial_state)
    self._physics.step(4)
    nstep_state = self._physics.get_state()

    np.testing.assert_array_equal(for_loop_state, nstep_state)

    # Repeat test with with RK4 integrator:
    self._physics.model.opt.integrator = enums.mjtIntegrator.mjINT_RK4

    # step() 4 times.
    with self._physics.reset_context():
      self._physics.set_state(initial_state)
    for _ in range(4):
      self._physics.step()
    for_loop_state_rk4 = self._physics.get_state()

    # Reset state, call step(4).
    with self._physics.reset_context():
      self._physics.set_state(initial_state)
    self._physics.step(4)
    nstep_state_rk4 = self._physics.get_state()

    np.testing.assert_array_equal(for_loop_state_rk4, nstep_state_rk4)

if __name__ == '__main__':
  absltest.main()