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Break out passive force functions into a new file engine_passive.c

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PiperOrigin-RevId: 513834952
Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
This commit is contained in:
Yuval Tassa
2023-03-03 08:31:35 -08:00
committed by Copybara-Service
parent fd1070cf03
commit 222ee00a66
13 changed files with 832 additions and 723 deletions
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test/engine/engine_forward_test.cc
+69
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@@ -492,5 +492,74 @@ TEST_F(ForwardTest, MjcbActDynSecondOrderExpectsActnum) {
mj_deleteData(data);
mj_deleteModel(model);
}
// -------------------------- adhesion actuators -------------------------------
using AdhesionTest = MujocoTest;
TEST_F(AdhesionTest, ExpectedAdhesionForce) {
static constexpr char xml[] = R"(
<mujoco>
<option gravity="0 0 -1"/>
<worldbody>
<body name="static">
<!-- small increase to size to ensure contact -->
<geom size=".02001" pos=" .01 .01 .07"/>
<geom size=".02001" pos="-.01 .01 .07"/>
<geom size=".02001" pos=" .01 -.01 .07"/>
<geom size=".02001" pos="-.01 -.01 .07"/>
</body>
<body name="free">
<freejoint/>
<geom type="box" size=".05 .05 .05" mass="1"/>
</body>
</worldbody>
<actuator>
<adhesion body="static" ctrlrange="0 2"/>
<adhesion body="free" ctrlrange="0 2"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// iterate over cone type
for (mjtCone cone : {mjCONE_ELLIPTIC, mjCONE_PYRAMIDAL}) {
// set cone
model->opt.cone = cone;
// iterate over condim
for (int condim : {1, 3, 4, 6}) {
// set condim
for (int id=0; id < model->ngeom; id++) {
model->geom_condim[id] = condim;
}
// iterate over actuators
for (int id=0; id < 2; id++) {
// set ctrl > 1, expect free body to not fall
mj_resetData(model, data);
data->ctrl[id] = 1.01;
for (int i = 0; i < 100; i++) {
mj_step(model, data);
}
// moved down at most 10 microns
EXPECT_GT(data->qpos[2], -1e-5);
// set ctrl < 1, expect free body to fall below 1cm
mj_resetData(model, data);
data->ctrl[id] = 0.99;
for (int i = 0; i < 100; i++) {
mj_step(model, data);
}
// fell lower than 1cm
EXPECT_LT(data->qpos[2], -0.01);
}
}
}
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco