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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/xml/xml_native_writer_test.cc
+304 -2
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@@ -127,7 +127,164 @@ TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsActlimited) {
TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<joint name="hinge" range="-1 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<joint name="hinge" limited="true" range="-1 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsJointLimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<joint name="hinge" limited="false" range="-1 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s1"/>
</body>
<site name="s2"/>
</worldbody>
<tendon>
<spatial range="-1 1">
<site site="s1"/>
<site site="s2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s1"/>
</body>
<site name="s2"/>
</worldbody>
<tendon>
<spatial limited="true" range="-1 1">
<site site="s1"/>
<site site="s2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsTendonLimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s1"/>
</body>
<site name="s2"/>
</worldbody>
<tendon>
<spatial limited="false" range="-1 1">
<site site="s1"/>
<site site="s2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general dyntype="filter" joint="hinge" actrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -143,7 +300,152 @@ TEST_F(XMLWriterTest, KeepsActlimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"true\" actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general dyntype="filter" joint="hinge" actlimited="false" actrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"false\" actrange=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" ctrlrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" ctrllimited="true" ctrlrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" ctrllimited="false" ctrlrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrllimited=\"false\" ctrlrange=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" forcerange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" forcelimited="true" forcerange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsForcelimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" forcelimited="false" forcerange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("forcelimited=\"false\" forcerange=\"-1 1\""));
mj_deleteModel(model);
}