Automatically infer *limited field from *range field for joints, tendons and actuators.
PiperOrigin-RevId: 467980594 Change-Id: If635c55a90cf949796b99a41395a6c2c4f7ea094
This commit is contained in:
Kevin Zakka
committed by
Copybara-Service
Copybara-Service
parent
29535a8eca
commit
4bfc2c0311
Vendored
+46
@@ -0,0 +1,46 @@
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<mujoco>
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<default>
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<default class="limited_false">
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<joint limited="false"/>
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</default>
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<default class="limited_true">
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<joint limited="true"/>
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<default class="limited_auto">
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<joint limited="auto"/>
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</default>
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</default>
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<default class="range_defined">
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<joint range="-1.57 1.57"/>
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</default>
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</default>
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<!--
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`user` attributes of the joints below indicate the expected state of the associated
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jnt_limited property in the compiled model.
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-->
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<worldbody>
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<body>
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<joint user="0"/>
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<joint user="1" range="0 1"/>
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<joint user="0" range="0 1" limited="false"/>
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<joint user="1" range="0 1" limited="true"/>
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<joint user="0" range="0 1" class="limited_false"/>
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<joint user="1" range="0 1" class="limited_true"/>
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<geom size="1"/>
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</body>
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<!-- adding another body since bodies are allowed a maximum of 6 DoFs -->
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<body>
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<joint user="1" range="0 1" class="limited_false" limited="true"/>
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<joint user="0" range="0 1" class="limited_true" limited="false"/>
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<joint user="1" class="range_defined"/>
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<joint user="1" range="0 1" class="limited_auto"/>
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<joint user="1" range="0 1" limited="auto"/>
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<joint user="0" limited="auto"/>
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<geom size="1"/>
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</body>
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<body>
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<!-- free joints should remain unlimited even if a (meaningless) range is defined -->
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<joint user="0" type="free" class="range_defined"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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@@ -39,7 +39,7 @@ using ::testing::NotNull;
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// ------------------------ test keyframes -------------------------------------
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static const char* const kKeyframePath = "user/testdata/keyframe.xml";
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constexpr char kKeyframePath[] = "user/testdata/keyframe.xml";
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TEST_F(MujocoTest, KeyFrameTest) {
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const std::string xml_path = GetTestDataFilePath(kKeyframePath);
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@@ -567,5 +567,25 @@ TEST_F(UserDataTest, NSensorTooSmall) {
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EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
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}
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// ------------- test for auto parsing of *limited fields -------------
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using LimitedTest = MujocoTest;
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constexpr char kKeyAutoLimits[] = "user/testdata/auto_limits.xml";
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// check joint limit values when automatically inferred based on range
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TEST_F(LimitedTest, JointLimited) {
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const std::string xml_path = GetTestDataFilePath(kKeyAutoLimits);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
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ASSERT_THAT(model, NotNull());
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// see `user/testdata/auto_limits.xml` for expected values
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for (int i=0; i < model->njnt; i++) {
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EXPECT_EQ(model->jnt_limited[i], (mjtByte)model->jnt_user[i]);
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}
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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@@ -127,7 +127,164 @@ TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsActlimited) {
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TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian"/>
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<worldbody>
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<body>
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<joint name="hinge" range="-1 1"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian"/>
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<worldbody>
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<body>
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<joint name="hinge" limited="true" range="-1 1"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsJointLimitedFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian"/>
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<worldbody>
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<body>
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<joint name="hinge" limited="false" range="-1 1"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian"/>
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<worldbody>
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<body>
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<joint type="slide"/>
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<geom size="1"/>
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<site name="s1"/>
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</body>
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<site name="s2"/>
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</worldbody>
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<tendon>
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<spatial range="-1 1">
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<site site="s1"/>
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<site site="s2"/>
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</spatial>
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</tendon>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian"/>
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<worldbody>
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<body>
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<joint type="slide"/>
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<geom size="1"/>
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<site name="s1"/>
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</body>
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<site name="s2"/>
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</worldbody>
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<tendon>
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<spatial limited="true" range="-1 1">
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<site site="s1"/>
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<site site="s2"/>
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</spatial>
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</tendon>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsTendonLimitedFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian"/>
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<worldbody>
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<body>
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<joint type="slide"/>
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<geom size="1"/>
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<site name="s1"/>
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</body>
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<site name="s2"/>
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</worldbody>
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<tendon>
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<spatial limited="false" range="-1 1">
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<site site="s1"/>
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<site site="s2"/>
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</spatial>
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</tendon>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general dyntype="filter" joint="hinge" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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@@ -143,7 +300,152 @@ TEST_F(XMLWriterTest, KeepsActlimited) {
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"true\" actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general dyntype="filter" joint="hinge" actlimited="false" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"false\" actrange=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" ctrlrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" ctrllimited="true" ctrlrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" ctrllimited="false" ctrlrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("ctrllimited=\"false\" ctrlrange=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" forcerange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" forcelimited="true" forcerange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsForcelimitedFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" forcelimited="false" forcerange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("forcelimited=\"false\" forcerange=\"-1 1\""));
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mj_deleteModel(model);
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}
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Block a user