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Remove requirement that stateless actuators come before stateful actuators.

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PiperOrigin-RevId: 484332415
Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
This commit is contained in:
Yuval Tassa
2022-10-27 13:18:24 -07:00
committed by Copybara-Service
parent f905c7fb7f
commit 0eb7f871b9
10 changed files with 73 additions and 25 deletions
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test/user/user_objects_test.cc
+50 -9
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@@ -104,7 +104,7 @@ TEST_F(KeyframeTest, BadSize) {
char error[1024];
size_t error_sz = 1024;
mjModel* model = LoadModelFromString(xml, error, error_sz);
EXPECT_THAT(model, ::testing::IsNull());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("invalid qpos size, expected length 0"));
}
@@ -313,7 +313,7 @@ TEST_F(MjCHFieldTest, PngMap) {
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size());
ASSERT_THAT(model, ::testing::NotNull()) << error.data();
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->nhfield, 1);
EXPECT_EQ(model->geom_type[0], mjGEOM_HFIELD);
mj_deleteModel(model);
@@ -348,8 +348,8 @@ TEST_F(QuatNorm, QuatNotNormalized) {
using ActuatorTest = MujocoTest;
TEST_F(ActuatorTest, BadOrder) {
static constexpr char xml[] = R"(
TEST_F(ActuatorTest, ActuatorOrderDoesntMatter) {
static constexpr char xml1[] = R"(
<mujoco>
<worldbody>
<body>
@@ -363,11 +363,52 @@ TEST_F(ActuatorTest, BadOrder) {
</actuator>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
mjModel* model = LoadModelFromString(xml, error, error_sz);
EXPECT_THAT(model, ::testing::IsNull());
EXPECT_THAT(error, HasSubstr("stateless actuators must come before"));
static constexpr char xml2[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge"/>
<general joint="hinge" dyntype="filter"/>
</actuator>
</mujoco>
)";
mjModel* model1 = LoadModelFromString(xml1, nullptr, 0);
mjData* data1 = mj_makeData(model1);
mjModel* model2 = LoadModelFromString(xml2, nullptr, 0);
mjData* data2 = mj_makeData(model2);
// check activation indexing
EXPECT_EQ(model1->actuator_actadr[0], 0);
EXPECT_EQ(model1->actuator_actadr[1], -1);
EXPECT_EQ(model2->actuator_actadr[0], -1);
EXPECT_EQ(model2->actuator_actadr[1], 0);
// integrate both models, flipping the controls
while (data1->time < 1) {
data1->ctrl[0] = data1->time;
data1->ctrl[1] = -data1->time;
mj_step(model1, data1);
}
while (data2->time < 1) {
data2->ctrl[0] = -data2->time;
data2->ctrl[1] = data2->time;
mj_step(model2, data2);
}
// expect states to match exactly
EXPECT_EQ(data1->qpos[0], data2->qpos[0]);
EXPECT_EQ(data1->qvel[0], data2->qvel[0]);
EXPECT_EQ(data1->act[0], data2->act[0]);
mj_deleteData(data2);
mj_deleteModel(model2);
mj_deleteData(data1);
mj_deleteModel(model1);
}