chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add inheritrange attribute to position and intvelocity actuators.

Browse Source 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
This commit is contained in:
Yuval Tassa
2024-02-16 04:41:49 -08:00
committed by Copybara-Service
parent 5e353efaaf
commit 05150546e3
11 changed files with 318 additions and 113 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_objects_test.cc
+49
View File
@@ -909,6 +909,55 @@ TEST_F(ActuatorTest, ActuatorOrderDoesntMatter) {
mj_deleteModel(model1);
}
// ------------- test inheritrange attribute ----------------------------------
using InheritrangeTest = MujocoTest;
TEST_F(InheritrangeTest, ErrorIfTargetMissingRange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="jnt"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" inheritrange="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("target 'jnt' has no range defined"));
}
TEST_F(InheritrangeTest, WorksForDegrees) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="jnt" range="90 180"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" inheritrange="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[0], mjPI/2);
EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[1], mjPI);
mj_deleteModel(model);
}
// ------------- test actlimited and actrange fields ---------------------------
test/xml/xml_native_reader_test.cc
+7 -3
View File
@@ -1065,10 +1065,10 @@ TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
<mujoco>
<default>
<default class="position">
<position kp="3" kv="4"/>
<position kp="3" kv="4" inheritrange="2"/>
</default>
<default class="intvelocity">
<intvelocity kp="5" kv="6" actrange="-1 1"/>
<intvelocity kp="5" kv="6" inheritrange="0.5"/>
</default>
<default class="velocity">
<velocity kv="7"/>
@@ -1077,7 +1077,7 @@ TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0"/>
<joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
</body>
</worldbody>
<actuator>
@@ -1107,6 +1107,10 @@ TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
EXPECT_EQ(model->actuator_gainprm[i*mjNGAIN + j], 0.0);
}
}
EXPECT_EQ(model->actuator_ctrlrange[0*2 + 0], -1.0);
EXPECT_EQ(model->actuator_ctrlrange[0*2 + 1], 3.0);
EXPECT_EQ(model->actuator_actrange[1*2 + 0], 0.5);
EXPECT_EQ(model->actuator_actrange[1*2 + 1], 1.5);
mj_deleteModel(model);
}
test/xml/xml_native_writer_test.cc
+60
View File
@@ -1025,6 +1025,66 @@ TEST_F(XMLWriterTest, TrimsDefaults) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, InheritrangeSavedAsRange) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<geom size="1"/>
<joint name="slide" type="slide" range="0 2"/>
</body>
<body>
<geom size="1"/>
<joint name="hinge" type="hinge" range="-2 0"/>
</body>
</worldbody>
<actuator>
<position joint="slide" inheritrange="2"/>
<intvelocity joint="hinge" inheritrange="0.5"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1.5 -0.5\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, InheritedInheritrangeSavedAsRange) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="position">
<position kp="3" kv="4" inheritrange="2"/>
</default>
<default class="intvelocity">
<intvelocity kp="5" kv="6" inheritrange="0.5"/>
</default>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" range="0 2"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" class="position"/>
<intvelocity joint="jnt" class="intvelocity"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inheritrange")));
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"0.5 1.5\""));
mj_deleteModel(model);
}
// check that no precision is lost when saving XMLs with FullFloatPrecision
TEST_F(XMLWriterTest, SetPrecision) {
static constexpr char xml[] = R"(