Fix bugs in actuator parsing.
- Adhesion actuator defaults were not parsed, now fixed. - Both damper and adhesion actuators were requiring `ctrlrange` at parse time, which prevented this attribute from being inherited from defaults, now fixed. - Added tests for all 3 cases. PiperOrigin-RevId: 475145255 Change-Id: I8dd6196e20734136d990f522893ebd4d156cd7a8
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
142c0eb200
commit
5dc26cf4a0
@@ -1598,7 +1598,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
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pact->gainprm[2] = -pact->gainprm[2];
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// require nonnegative range
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ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text, true);
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ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
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if (pact->ctrlrange[0]<0 || pact->ctrlrange[1]<0) {
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throw mjXError(elem, "damper control range cannot be negative");
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}
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@@ -1676,7 +1676,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
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throw mjXError(elem, "adhesion gain cannot be negative");
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// require nonnegative range
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ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text, true);
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ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
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if (pact->ctrlrange[0]<0 || pact->ctrlrange[1]<0) {
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throw mjXError(elem, "adhesion control range cannot be negative");
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}
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@@ -1947,7 +1947,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
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// read tendon
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else if (name=="tendon") OneTendon(elem, &def->tendon);
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// read actuator: general, motor, position, velocity, cylinder
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// read actuator
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else if (name=="general" ||
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name=="motor" ||
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name=="position" ||
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@@ -1955,7 +1955,8 @@ void mjXReader::Default(XMLElement* section, int parentid) {
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name=="damper" ||
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name=="intvelocity" ||
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name=="cylinder" ||
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name=="muscle") {
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name=="muscle" ||
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name=="adhesion") {
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OneActuator(elem, &def->actuator);
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}
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@@ -365,7 +365,7 @@ TEST_F(UserDataTest, RequiresControlRange) {
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<worldbody>
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<body>
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<geom size="1"/>
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<joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
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<joint name="jnt" type="slide" axis="1 0 0" range="-10 10" limited="true"/>
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</body>
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</worldbody>
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<actuator>
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@@ -376,7 +376,7 @@ TEST_F(UserDataTest, RequiresControlRange) {
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("required attribute missing: 'ctrlrange'"));
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EXPECT_THAT(error.data(), HasSubstr("invalid control range"));
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}
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TEST_F(UserDataTest, PositiveControlRange) {
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@@ -553,11 +553,11 @@ TEST_F(ActuatorTest, ReadsByte) {
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mj_deleteModel(model);
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}
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// ------------- test intvelocity parsing ---------------------------------------
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// ---------------- test actuator parsing --------------------------------------
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using IntegratedVelocityTest = MujocoTest;
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using ActuatorParseTest = MujocoTest;
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TEST_F(IntegratedVelocityTest, CheckEquivalence) {
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TEST_F(ActuatorParseTest, IntvelocityCheckEquivalence) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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@@ -568,14 +568,14 @@ TEST_F(IntegratedVelocityTest, CheckEquivalence) {
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</worldbody>
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<actuator>
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<intvelocity joint="hinge" kp="2.5" actrange="-1.57 1.57"/>
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<general joint="hinge" actlimited="true" actrange="-1.57 1.57" dyntype="integrator"
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biastype="affine" gainprm="2.5" biasprm="0 -2.5 0"/>
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<general joint="hinge" actlimited="true" actrange="-1.57 1.57"
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dyntype="integrator" biastype="affine" gainprm="2.5" biasprm="0 -2.5 0"/>
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</actuator>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, testing::NotNull());
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ASSERT_THAT(model, NotNull());
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// same actlimited
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EXPECT_EQ(model->actuator_actlimited[0], 1);
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EXPECT_EQ(model->actuator_actlimited[1], 1);
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@@ -606,7 +606,7 @@ TEST_F(IntegratedVelocityTest, CheckEquivalence) {
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mj_deleteModel(model);
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}
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TEST_F(IntegratedVelocityTest, CheckDefaultsIfNotSpecified) {
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TEST_F(ActuatorParseTest, IntvelocityCheckDefaultsIfNotSpecified) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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@@ -622,7 +622,7 @@ TEST_F(IntegratedVelocityTest, CheckDefaultsIfNotSpecified) {
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, testing::NotNull());
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ASSERT_THAT(model, NotNull());
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// check that by default kp = 1
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EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 1.0);
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// check that biasprm is (0, -1, 0)
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@@ -632,7 +632,7 @@ TEST_F(IntegratedVelocityTest, CheckDefaultsIfNotSpecified) {
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mj_deleteModel(model);
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}
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TEST_F(IntegratedVelocityTest, NoActrangeThrowsError) {
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TEST_F(ActuatorParseTest, IntvelocityNoActrangeThrowsError) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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@@ -652,7 +652,7 @@ TEST_F(IntegratedVelocityTest, NoActrangeThrowsError) {
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EXPECT_THAT(error.data(), HasSubstr("invalid activation range for actuator"));
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}
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TEST_F(IntegratedVelocityTest, DefaultsPropagate) {
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TEST_F(ActuatorParseTest, IntvelocityDefaultsPropagate) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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@@ -676,7 +676,7 @@ TEST_F(IntegratedVelocityTest, DefaultsPropagate) {
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, testing::NotNull());
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ASSERT_THAT(model, NotNull());
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EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 5);
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EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 1);
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EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], 0);
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@@ -686,5 +686,82 @@ TEST_F(IntegratedVelocityTest, DefaultsPropagate) {
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mj_deleteModel(model);
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}
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// ------------- test adhesion parsing -----------------------------------------
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TEST_F(ActuatorParseTest, AdhesionDefaultsPropagate) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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<adhesion ctrlrange="0 3"/>
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</default>
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<worldbody>
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<body name="sphere">
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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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<adhesion body="sphere"/>
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</actuator>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, NotNull());
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EXPECT_EQ(model->actuator_ctrlrange[0], 0);
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EXPECT_EQ(model->actuator_ctrlrange[1], 3);
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mj_deleteModel(model);
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}
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TEST_F(ActuatorParseTest, ErrorBadAdhesionDefaults) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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<adhesion ctrlrange="-1 0"/>
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</default>
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<worldbody>
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<body name="sphere">
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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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<adhesion body="sphere"/>
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</actuator>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(),
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HasSubstr("adhesion control range cannot be negative"));
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}
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// make sure range requirement is not enforced at parse time
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TEST_F(ActuatorParseTest, DampersDontRequireRange) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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<damper ctrlrange="0 2"/>
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</default>
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<worldbody>
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<body name="sphere">
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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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<damper joint="hinge"/>
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</actuator>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, NotNull());
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EXPECT_EQ(model->actuator_ctrlrange[0], 0);
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EXPECT_EQ(model->actuator_ctrlrange[1], 2);
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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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