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Allow more than 1 activation state per actuator, but only for dyntype user.

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Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
This commit is contained in:
Yuval Tassa
2022-11-07 01:42:18 -08:00
committed by Copybara-Service
parent 0514010928
commit 36b30e4500
20 changed files with 271 additions and 37 deletions
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test/xml/xml_native_writer_test.cc
+45
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@@ -770,6 +770,51 @@ TEST_F(XMLWriterTest, SpringlengthTwoValues) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, Actdim) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" dyntype="user" actdim="2"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actdim=\"2\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, ActdimDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<general actdim="2"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" dyntype="user"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actdim=\"2\""));
mj_deleteModel(model);
}
// check that no precision is lost when saving XMLs with FullFloatPrecision
TEST_F(XMLWriterTest, SetPrecision) {
static constexpr char xml[] = R"(