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Fix "actrange" parsing for "intvelocity" actuators.

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PiperOrigin-RevId: 468759706
Change-Id: I1d9eeb723d28cccb64a6112b103345fcf451700f
This commit is contained in:
Kevin Zakka
2022-08-19 12:22:13 -07:00
committed by Copybara-Service
parent ee6fed1230
commit 0b2f19bbe7
3 changed files with 37 additions and 6 deletions
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test/xml/xml_native_reader_test.cc
+35 -1
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@@ -648,7 +648,41 @@ TEST_F(IntegratedVelocityTest, NoActrangeThrowsError) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("actrange is required for an intvelocity actuator"));
EXPECT_THAT(error.data(), HasSubstr("invalid activation range for actuator"));
}
TEST_F(IntegratedVelocityTest, DefaultsPropagate) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<intvelocity kp="5"/>
<default class="withactrange">
<intvelocity kp="1" actrange="-1 1"/>
</default>
</default>
<worldbody>
<body>
<joint name="hinge1"/>
<joint name="hinge2"/>
<geom type="box" size=".025 .025 .025"/>
</body>
</worldbody>
<actuator>
<intvelocity joint="hinge1" actrange="0 1"/>
<intvelocity joint="hinge2" class="withactrange"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, testing::NotNull());
EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 5);
EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 1);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], 0);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 1], 1);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 2], -1);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 3], 1);
mj_deleteModel(model);
}
} // namespace