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Add actuator and sensor delays. Fixes #1004

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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
This commit is contained in:
Yuval Tassa
2026-02-06 08:46:45 -08:00
committed by Copybara-Service
parent 84fa527723
commit 6419534bad
48 changed files with 6282 additions and 219 deletions
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test/user/user_model_test.cc
+42
View File
@@ -973,6 +973,48 @@ TEST_F(MujocoTest, ConvertSpringdamper) {
EXPECT_THAT(str.data(), HasSubstr("damping"));
EXPECT_THAT(str.data(), HasSubstr("stiffness"));
mj_deleteModel(model);
mj_deleteSpec(spec);
}
// ------------- test history buffer computation -------------------------------
using DelayBufferTest = MujocoTest;
TEST_F(DelayBufferTest, ActuatorDelayBufferSizes) {
static constexpr char xml[] = R"(
<mujoco>
<option timestep="1"/>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt1"/>
<joint name="jnt2"/>
<joint name="jnt3"/>
</body>
</worldbody>
<actuator>
<motor joint="jnt1"/>
<motor joint="jnt2" delay="3" nsample="3"/>
<motor joint="jnt3" delay="10" nsample="10"/>
</actuator>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
ASSERT_EQ(m->nu, 3);
// nhistory = (2+2*3) + (2+2*10) = 8 + 22 = 30
EXPECT_EQ(m->nhistory, 30);
// verify per-actuator delay and addresses
EXPECT_EQ(m->actuator_history[0], 0);
EXPECT_EQ(m->actuator_history[2], 3);
EXPECT_EQ(m->actuator_history[4], 10);
EXPECT_EQ(m->actuator_historyadr[0], -1);
EXPECT_EQ(m->actuator_historyadr[1], 0);
EXPECT_EQ(m->actuator_historyadr[2], 8);
mj_deleteModel(m);
}
} // namespace
test/user/user_objects_test.cc
+60
View File
@@ -626,6 +626,66 @@ TEST_F(SensorTest, OjbtypeParsedButNotRequired) {
mj_deleteModel(model);
}
TEST_F(SensorTest, NegativeIntervalError) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="j"/>
<geom size="1"/>
</body>
</worldbody>
<sensor>
<jointpos joint="j" interval="-1"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("negative interval"));
}
TEST_F(SensorTest, PositivePhaseError) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="j"/>
<geom size="1"/>
</body>
</worldbody>
<sensor>
<jointpos joint="j" interval="0.1 0.05"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("positive phase"));
}
TEST_F(SensorTest, DelayWithoutHistoryError) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="j"/>
<geom size="1"/>
</body>
</worldbody>
<sensor>
<jointpos joint="j" delay="0.1"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("delay > 0 without a history buffer"));
}
// ------------- test capsule inertias -----------------------------------------
static const char* const kCapsuleInertiaPath =