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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/xml/xml_native_reader_test.cc
+7 -3
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@@ -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);
}