removed unnecessary test

Author: bmccann-bdai

source/isaaclab/test/actuators/test_ideal_pd_actuator.py

@@ -270,84 +270,5 @@ def test_ideal_pd_compute(num_envs, num_joints, device, effort_lim):
     )
 
 
-@pytest.mark.parametrize("num_envs", [1, 2])
-@pytest.mark.parametrize("num_joints", [1, 2])
-@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
-@pytest.mark.parametrize("effort_lim", [None, 300])
-@pytest.mark.parametrize("dm_speed_effort_gradient", [None, 100])
-@pytest.mark.parametrize("dm_max_actuator_velocity", [None, 200])
-@pytest.mark.parametrize("dm_velocity_dependent_resistance", [None, 0.1])
-def test_ideal_drive_model_parameters(
-    num_envs,
-    num_joints,
-    device,
-    effort_lim,
-    dm_velocity_dependent_resistance,
-    dm_max_actuator_velocity,
-    dm_speed_effort_gradient,
-):
-    """Test the computation of the ideal pd actuator."""
-
-    joint_names = [f"joint_{d}" for d in range(num_joints)]
-    joint_ids = [d for d in range(num_joints)]
-    stiffness = 200
-    damping = 10
-    actuator_cfg = IdealPDActuatorCfg(
-        joint_names_expr=joint_names,
-        stiffness=stiffness,
-        damping=damping,
-        effort_limit=effort_lim,
-        dm_velocity_dependent_resistance=dm_velocity_dependent_resistance,
-        dm_max_actuator_velocity=dm_max_actuator_velocity,
-        dm_speed_effort_gradient=dm_speed_effort_gradient,
-    )
-
-    actuator = actuator_cfg.class_type(
-        actuator_cfg,
-        joint_names=joint_names,
-        joint_ids=joint_ids,
-        num_envs=num_envs,
-        device=device,
-        stiffness=actuator_cfg.stiffness,
-        damping=actuator_cfg.damping,
-    )
-    desired_pos = 10.0
-    desired_vel = 0.1
-    measured_joint_pos = 1.0
-    measured_joint_vel = -0.1
-
-    desired_control_action = ArticulationActions()
-    desired_control_action.joint_positions = desired_pos * torch.ones(num_envs, num_joints, device=device)
-    desired_control_action.joint_velocities = desired_vel * torch.ones(num_envs, num_joints, device=device)
-    desired_control_action.joint_efforts = torch.zeros(num_envs, num_joints, device=device)
-
-    expected_comp_joint_effort = stiffness * (desired_pos - measured_joint_pos) + damping * (
-        desired_vel - measured_joint_vel
-    )
-
-    computed_control_action = actuator.compute(
-        desired_control_action,
-        measured_joint_pos * torch.ones(num_envs, num_joints, device=device),
-        measured_joint_vel * torch.ones(num_envs, num_joints, device=device),
-    )
-
-    torch.testing.assert_close(
-        expected_comp_joint_effort * torch.ones(num_envs, num_joints, device=device), actuator.computed_effort
-    )
-
-    if effort_lim is None:
-        torch.testing.assert_close(
-            expected_comp_joint_effort * torch.ones(num_envs, num_joints, device=device), actuator.applied_effort
-        )
-    else:
-        torch.testing.assert_close(
-            effort_lim * torch.ones(num_envs, num_joints, device=device), actuator.applied_effort
-        )
-    torch.testing.assert_close(
-        actuator.applied_effort,
-        computed_control_action.joint_efforts,
-    )
-
-
 if __name__ == "__main__":
     pytest.main([__file__, "-v", "--maxfail=1"])