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Automatically infer *limited field from *range field for joints, tendons and actuators.

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PiperOrigin-RevId: 467980594
Change-Id: If635c55a90cf949796b99a41395a6c2c4f7ea094
This commit is contained in:
Kevin Zakka
2022-08-16 11:34:41 -07:00
committed by Copybara-Service
parent 29535a8eca
commit 4bfc2c0311
9 changed files with 474 additions and 58 deletions
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test/user/testdata/auto_limits.xml
Vendored
+46
View File
@@ -0,0 +1,46 @@
<mujoco>
<default>
<default class="limited_false">
<joint limited="false"/>
</default>
<default class="limited_true">
<joint limited="true"/>
<default class="limited_auto">
<joint limited="auto"/>
</default>
</default>
<default class="range_defined">
<joint range="-1.57 1.57"/>
</default>
</default>
<!--
`user` attributes of the joints below indicate the expected state of the associated
jnt_limited property in the compiled model.
-->
<worldbody>
<body>
<joint user="0"/>
<joint user="1" range="0 1"/>
<joint user="0" range="0 1" limited="false"/>
<joint user="1" range="0 1" limited="true"/>
<joint user="0" range="0 1" class="limited_false"/>
<joint user="1" range="0 1" class="limited_true"/>
<geom size="1"/>
</body>
<!-- adding another body since bodies are allowed a maximum of 6 DoFs -->
<body>
<joint user="1" range="0 1" class="limited_false" limited="true"/>
<joint user="0" range="0 1" class="limited_true" limited="false"/>
<joint user="1" class="range_defined"/>
<joint user="1" range="0 1" class="limited_auto"/>
<joint user="1" range="0 1" limited="auto"/>
<joint user="0" limited="auto"/>
<geom size="1"/>
</body>
<body>
<!-- free joints should remain unlimited even if a (meaningless) range is defined -->
<joint user="0" type="free" class="range_defined"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
test/user/user_objects_test.cc
+21 -1
View File
@@ -39,7 +39,7 @@ using ::testing::NotNull;
// ------------------------ test keyframes -------------------------------------
static const char* const kKeyframePath = "user/testdata/keyframe.xml";
constexpr char kKeyframePath[] = "user/testdata/keyframe.xml";
TEST_F(MujocoTest, KeyFrameTest) {
const std::string xml_path = GetTestDataFilePath(kKeyframePath);
@@ -567,5 +567,25 @@ TEST_F(UserDataTest, NSensorTooSmall) {
EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
}
// ------------- test for auto parsing of *limited fields -------------
using LimitedTest = MujocoTest;
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());
// 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]);
}
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco