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Minor improvements to dcmotor

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PiperOrigin-RevId: 895907301
Change-Id: Ia50a6d06c1ede9894cc71f375db837d104f0211e
This commit is contained in:
Yuval Tassa
2026-04-07 08:10:42 -07:00
committed by Copybara-Service
parent b61d304126
commit 382474bb9d
8 changed files with 114 additions and 57 deletions
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test/user/user_api_test.cc
+41
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@@ -239,6 +239,47 @@ TEST_F(MujocoTest, DeletePlugin) {
mj_deleteModel(newmodel);
}
TEST_F(MujocoTest, SetToDCMotorNullable) {
mjSpec* spec = mj_makeSpec();
mjsActuator* actuator = mjs_addActuator(spec, 0);
double motorconst[2] = {0.05, 0.05};
double resistance = 2.0;
const char* err = mjs_setToDCMotor(actuator, motorconst, resistance,
nullptr, nullptr, nullptr,
nullptr, nullptr, nullptr,
nullptr, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->gainprm[0], 2.0);
EXPECT_EQ(actuator->gainprm[1], 0.05);
EXPECT_EQ(actuator->gainprm[4], 0);
EXPECT_EQ(actuator->gainprm[5], 0);
EXPECT_EQ(actuator->gainprm[6], 0);
EXPECT_EQ(actuator->dynprm[7], 0);
EXPECT_EQ(actuator->dynprm[8], 0);
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, SetToDCMotorDeriveKe) {
mjSpec* spec = mj_makeSpec();
mjsActuator* actuator = mjs_addActuator(spec, 0);
double resistance = 2.0;
double nominal[3] = {12.0, 0, 100.0}; // vn=12, omega0=100
const char* err = mjs_setToDCMotor(actuator, nullptr, resistance,
nominal, nullptr, nullptr,
nullptr, nullptr, nullptr,
nullptr, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->gainprm[0], 2.0);
EXPECT_NEAR(actuator->gainprm[1], 0.12, 1e-5);
mj_deleteSpec(spec);
}
static constexpr char xml_plugin_1[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>