Datasets:
File size: 3,511 Bytes
37d21bb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | """Public self-check for a MuJoCo submission. Uses only the submission.
Usage: python self_check.py /work/output
Reports manifest errors (missing labels, references), contacts deeper than 5 mm at the authored
state, and the time above 5 mm, peak body speed and finite state over a 3 s passive rollout.
The limits are the prompt's construction rules.
"""
import json
import sys
from pathlib import Path
import mujoco
import numpy as np
LIMIT_M, LIMIT_S, SPEED = .005, .02, 5.
def body(model, geom):
return mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_BODY, int(model.geom_bodyid[geom])) or f'body{int(model.geom_bodyid[geom])}'
def main(output):
output = Path(output)
report = {'manifest_errors': []}
model = mujoco.MjModel.from_xml_path(str(output / 'scene.xml'))
data = mujoco.MjData(model)
manifest = json.loads((output / 'objects.json').read_text())['objects']
kinds = {'body_names': mujoco.mjtObj.mjOBJ_BODY, 'geom_names': mujoco.mjtObj.mjOBJ_GEOM,
'joint_names': mujoco.mjtObj.mjOBJ_JOINT, 'flex_names': mujoco.mjtObj.mjOBJ_FLEX}
ids = [o.get('id') for o in manifest]
if len(ids) != len(set(ids)):
report['manifest_errors'].append('duplicate object ids')
for obj in manifest:
if not isinstance(obj.get('label'), str) or not obj['label'].strip():
report['manifest_errors'].append(f"{obj.get('id')}: no label (say plainly what the object is)")
for key, kind in kinds.items():
for name in obj.get(key, []):
if mujoco.mj_name2id(model, kind, name) < 0:
report['manifest_errors'].append(f"{obj.get('id')}: {key} '{name}' does not resolve")
sites = obj.get('sites', {})
for name in (sites.values() if isinstance(sites, dict) else sites):
if mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SITE, name) < 0:
report['manifest_errors'].append(f"{obj.get('id')}: site '{name}' does not resolve")
mujoco.mj_forward(model, data)
initial = sorted(((-float(c.dist), body(model, c.geom1), body(model, c.geom2)) for c in data.contact[:data.ncon]
if -c.dist > LIMIT_M), reverse=True)
report['initial_contacts_deeper_than_5mm'] = [{'depth_m': d, 'bodies': [a, b]} for d, a, b in initial[:20]]
report['initial_contact_count_deeper_than_5mm'] = len(initial)
above, peak, finite = 0., 0., True
for _ in range(int(np.ceil(3/model.opt.timestep))):
mujoco.mj_step(model, data)
deepest = max([-float(c.dist) for c in data.contact[:data.ncon]] or [0.])
above += model.opt.timestep if deepest > LIMIT_M else 0.
peak = max(peak, float(np.linalg.norm(data.cvel[:, 3:], axis=1).max()) if data.cvel.size else 0.)
finite = bool(np.isfinite(data.qpos).all() and np.isfinite(data.qvel).all())
if not finite:
break
report.update(time_above_5mm_s=above, peak_body_speed_mps=peak, finite=finite,
timestep_s=float(model.opt.timestep),
passive_ok=bool(finite and above <= LIMIT_S and peak <= SPEED and not report['manifest_errors']))
print(json.dumps(report, indent=2))
print('\nPASSIVE CHECK', 'PASSED' if report['passive_ok'] else 'FAILED',
f"- {len(initial)} initial contacts > 5 mm, {above:.3f} s above 5 mm, peak speed {peak:.2f} m/s,"
f" {len(report['manifest_errors'])} manifest errors")
if __name__ == '__main__':
main(sys.argv[1] if len(sys.argv) > 1 else '/work/output')
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