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Refactor handling of auto-limits.

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PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
This commit is contained in:
Yuval Tassa
2024-02-10 22:00:04 -08:00
committed by Copybara-Service
parent cebd2a657e
commit 3601026b1d
6 changed files with 87 additions and 77 deletions
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test/user/user_objects_test.cc
+7 -4
View File
@@ -1266,13 +1266,16 @@ constexpr char kKeyAutoLimits[] = "user/testdata/auto_limits.xml";
// check joint limit values when automatically inferred based on range
TEST_F(LimitedTest, JointLimited) {
const std::string xml_path = GetTestDataFilePath(kKeyAutoLimits);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull());
const std::string path = GetTestDataFilePath(kKeyAutoLimits);
std::array<char, 1024> err;
mjModel* model = mj_loadXML(path.c_str(), nullptr, err.data(), err.size());
ASSERT_THAT(model, NotNull()) << err.data();
// see `user/testdata/auto_limits.xml` for expected values
for (int i=0; i < model->njnt; i++) {
EXPECT_EQ(model->jnt_limited[i], (mjtByte)model->jnt_user[i]);
EXPECT_EQ(model->jnt_limited[i], (mjtByte)model->jnt_user[i])
<< i << " " << (int)model->jnt_limited[i] << " "
<< (int)model->jnt_user[i];
}
mj_deleteModel(model);
test/xml/xml_native_writer_test.cc
+10 -10
View File
@@ -290,7 +290,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
TEST_F(XMLWriterTest, KeepsExplicitJointLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
@@ -307,7 +307,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("limited=\"true\""));
mj_deleteModel(model);
}
@@ -359,7 +359,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
TEST_F(XMLWriterTest, KeepsExplicitTendonLimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
@@ -384,7 +384,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("limited=\"true\""));
mj_deleteModel(model);
}
@@ -439,7 +439,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
TEST_F(XMLWriterTest, KeepsExplicitActlimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
@@ -459,7 +459,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"true\""));
mj_deleteModel(model);
}
@@ -508,7 +508,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimitedIfAutoLimits) {
TEST_F(XMLWriterTest, KeepsExplicitCtrllimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
@@ -527,7 +527,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimitedIfAutoLimits) {
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("ctrllimited=\"true\""));
mj_deleteModel(model);
}
@@ -576,7 +576,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
TEST_F(XMLWriterTest, KeepsExplicitForcelimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -595,7 +595,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("forcelimited=\"true\""));
mj_deleteModel(model);
}