Add ctrlrange == jntrange test.

tests/test_core.py

@@ -41,5 +41,5 @@ def test_can_create_and_run_environment():
         assert timestep.reward is not None
 
     # For local testing only.
-    if os.environ['MUJOCO_GL'] == 'egl':
+    if 'MUJOCO_GL' in os.environ and os.environ['MUJOCO_GL'] == 'egl':
         _ = env.physics.render()

tests/test_flymodel.py → tests/test_flybare.py

@@ -1,12 +1,13 @@
-"""Test fly body parameters and pure physics (outside of RL environment)."""
+"""Test stand-alone fly model outside of RL environment."""
 
 import os
 import numpy as np
-from dm_control import mjcf
 
+from dm_control import mjcf
+import flybody
 
-xml_path = os.path.join(os.path.dirname(__file__),
-                        '../flybody/fruitfly/assets/fruitfly.xml')
+flybody_path = os.path.dirname(flybody.__file__)
+xml_path = os.path.join(flybody_path, 'fruitfly/assets/fruitfly.xml')
 
 expect = {
     'nq': 109,  # Generalized coordinates.
@@ -29,30 +30,37 @@
 
 
 def test_model_parameters():
-
-    mjcf_model = mjcf.from_path(xml_path)
-    physics = mjcf.Physics.from_mjcf_model(mjcf_model)
-
+    physics = mjcf.Physics.from_xml_path(xml_path)
     for k, v in expect.items():
         assert getattr(physics.model, k) == v
-
     assert np.isclose(
         physics.named.model.body_subtreemass['thorax'],
         expect_close['fly_mass'])
 
 
-def test_can_compile_and_step_simulation():
+def test_control_ranges_match_joint_ranges():
+    physics = mjcf.Physics.from_xml_path(xml_path)
+    m = physics.model
+    for i in range(physics.model.nu):
+        # Consider only joint actuators that are also position actuators.
+        if m.actuator_trntype[i] == 0 and m.actuator_biastype[i] == 1:
+            actuator_name = m.id2name(i, 'actuator')
+            joint_name = m.id2name(m.actuator_trnid[i][0], 'joint')
+            joint_id = m.actuator_trnid[i][0]
+            ctrl_range = m.actuator_ctrlrange[i]
+            joint_range = m.jnt_range[joint_id]
+            assert actuator_name == joint_name
+            assert all(ctrl_range == joint_range)
 
-    mjcf_model = mjcf.from_path(xml_path)
-    physics = mjcf.Physics.from_mjcf_model(mjcf_model)
 
+def test_can_compile_and_step_simulation():
+    physics = mjcf.Physics.from_xml_path(xml_path)
     physics.reset()
     for _ in range(100):
         physics.data.ctrl[:] = np.random.uniform(-.2, .2, physics.model.nu)
         physics.step()
         assert isinstance(physics.data.sensordata, np.ndarray)
-
     # For local testing only.
-    if os.environ['MUJOCO_GL'] == 'egl':
+    if 'MUJOCO_GL' in os.environ and os.environ['MUJOCO_GL'] == 'egl':
         _ = physics.render()
 

tests/test_flywalker.py

@@ -17,7 +17,7 @@
              'force', 'touch', 'accelerometer', 'gyro', 'velocimeter',
              'actuator_activation', 'appendages_pos']
 # For local testing only.
-if os.environ['MUJOCO_GL'] == 'egl':
+if 'MUJOCO_GL' in os.environ and os.environ['MUJOCO_GL'] == 'egl':
     OBS_NAMES = OBS_NAMES + ['right_eye', 'left_eye']
 
 # Prepare all possible configurations to test fly walker with.