clean up testdata and remove quadruped test

Author: thowell

mjpc/test/direct/direct_optimize_test.cc

@@ -181,87 +181,5 @@ TEST(DirectOptimize, Box3D) {
   mj_deleteModel(model);
 }
 
-TEST(DirectOptimize, Quadruped) {
-  // verbose
-  bool verbose = false;
-
-  // load model
-  mjModel* model = LoadTestModel("estimator/quadruped/task.xml");
-  mjData* data = mj_makeData(model);
-
-  // discrete inverse dynamics
-  model->opt.enableflags |= mjENBL_INVDISCRETE;
-
-  // dimension
-  int nq = model->nq, nv = model->nv, nu = model->nu;
-  int ns = model->nsensordata;
-
-  if (verbose) {
-    printf("Quadruped dimensions:\n");
-    printf("nq: %i\n", nq);
-    printf("nv: %i\n", nv);
-    printf("nu: %i\n", nu);
-    printf("ns: %i\n", ns);
-  }
-
-  // ----- simulate ----- //
-  int T = 64;
-  if (verbose) printf("T: %i\n", T);
-  Simulation sim(model, T);
-  auto controller = [](double* ctrl, double time) {};
-  sim.Rollout(controller);
-
-  // ----- optimizer ----- //
-
-  // initialize
-  Direct optimizer(model, T);
-  optimizer.settings.verbose_optimize = verbose;
-  mju_copy(optimizer.configuration.Data(), sim.qpos.Data(), nq * T);
-  mju_copy(optimizer.configuration_previous.Data(), sim.qpos.Data(), nq * T);
-  mju_copy(optimizer.force_measurement.Data(), sim.qfrc_actuator.Data(),
-           nv * T);
-  mju_copy(optimizer.sensor_measurement.Data(), sim.sensor.Data(), ns * T);
-
-  // ----- random perturbation ----- //
-
-  // loop over configurations
-  for (int t = 0; t < T; t++) {
-    // unpack
-    double* q = optimizer.configuration.Get(t);
-    std::vector<double> noise(nv);
-    // add noise
-    for (int i = 0; i < nv; i++) {
-      // absl::BitGen gen_;
-      noise[i] = 0.05;  // * absl::Gaussian<double>(gen_, 0.0, 1.0);
-    }
-    // integrate configuration
-    mj_integratePos(model, q, noise.data(), 1.0);
-  }
-
-  // settings
-  optimizer.settings.max_smoother_iterations = 1;
-  optimizer.settings.max_search_iterations = 10;
-
-  // set weights
-  std::fill(optimizer.noise_process.begin(), optimizer.noise_process.end(),
-            1.0);
-  std::fill(optimizer.noise_sensor.begin(), optimizer.noise_sensor.end(), 1.0);
-
-  // optimize
-  optimizer.Optimize();
-
-  // error
-  std::vector<double> configuration_error(nq * T);
-  mju_sub(configuration_error.data(), optimizer.configuration.Data(),
-          sim.qpos.Data(), nq * T);
-
-  // test cost decrease
-  EXPECT_LE(optimizer.GetCost(), optimizer.GetCostInitial());
-
-  // delete data + model
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
 }  // namespace
 }  // namespace mjpc

mjpc/test/testdata/box.xml

@@ -24,15 +24,5 @@
     <frameangvel name="angvel" objtype="body" objname="root"/>
     <framelinacc name="linacc" objtype="body" objname="root"/>
     <frameangacc name="angacc" objtype="body" objname="root"/>
-
-    <!-- <framepos name="corner0" objtype="site" objname="corner0"/> -->
-    <!-- <framepos name="corner1" objtype="site" objname="corner1"/>
-    <framepos name="corner2" objtype="site" objname="corner2"/>
-    <framepos name="corner3" objtype="site" objname="corner3"/>
-    <framepos name="corner4" objtype="site" objname="corner4"/>
-    <framepos name="corner5" objtype="site" objname="corner5"/>
-    <framepos name="corner6" objtype="site" objname="corner6"/>
-    <framepos name="corner7" objtype="site" objname="corner7"/>
-    <framelinvel name="boxlinvel" objtype="body" objname="root"/> -->
   </sensor>
 </mujoco>