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Add timeconst attribute to position actuator.

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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
This commit is contained in:
Tom Erez
2024-05-18 03:37:10 -07:00
committed by Copybara-Service
parent 875823ba96
commit 727893f0f2
6 changed files with 127 additions and 18 deletions
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test/xml/xml_native_reader_test.cc
+92
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@@ -1407,6 +1407,98 @@ TEST_F(ActuatorTest, ReadsByte) {
using ActuatorParseTest = MujocoTest;
TEST_F(ActuatorParseTest, PositionTimeconst) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" timeconst="2"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_NEAR(model->actuator_dynprm[0], 2.0, 1e-6);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstInheritrange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" range="-1 1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" inheritrange="1" timeconst="2"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstDefault) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<position timeconst="1"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_NEAR(model->actuator_dynprm[0], 1.0, 1e-6);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstDefaultOverride) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<position timeconst="1"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" timeconst="0"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_FALSE(model->actuator_dynprm[0]);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_NONE));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, ReadsDamper) {
static constexpr char xml[] = R"(
<mujoco>