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Add <dcmotor> actuator and related docs and tests.

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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
2026-04-01 07:49:53 -07:00
committed by Copybara-Service
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
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test/engine/engine_derivative_test.cc
+12 -4
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@@ -91,6 +91,8 @@ static const char* const kDampedPendulumPath =
"engine/testdata/derivative/damped_pendulum.xml";
static const char* const kLinearPath =
"engine/testdata/derivative/linear.xml";
static const char* const kDCMotorPath =
"engine/testdata/derivative/dcmotor.xml";
static const char* const kModelPath = "testdata/model.xml";
// compare analytic and finite-difference d_smooth/d_qvel
@@ -99,9 +101,12 @@ TEST_F(DerivativeTest, SmoothDvel) {
for (const char* local_path : {kEnergyConservingPendulumPath,
kTumblingThinObjectPath,
kDampedActuatorsPath,
kDamperActuatorsPath}) {
kDamperActuatorsPath,
kDCMotorPath}) {
const std::string xml_path = GetTestDataFilePath(local_path);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
char error[1024] = "";
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, testing::NotNull()) << "Failed to load model: " << error;
int nD = model->nD;
mjData* data = mj_makeData(model);
@@ -758,9 +763,12 @@ TEST_F(DerivativeTest, DenseSparseRneEquivalent) {
for (const char* local_path : {kEnergyConservingPendulumPath,
kTumblingThinObjectPath,
kDampedActuatorsPath,
kDamperActuatorsPath}) {
kDamperActuatorsPath,
kDCMotorPath}) {
const std::string xml_path = GetTestDataFilePath(local_path);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
char error[1024] = "";
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, testing::NotNull()) << "Failed to load model: " << error;
int nD = model->nD;
mjtNum* qDeriv = (mjtNum*) mju_malloc(sizeof(mjtNum)*nD);
mjData* data = mj_makeData(model);