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Add inheritrange attribute to position and intvelocity actuators.

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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
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test/user/user_objects_test.cc
+49
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@@ -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 ---------------------------