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mjcb_control respects the mjDSBL_ACTUATION flag

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PiperOrigin-RevId: 483339817
Change-Id: I0b74e4c03a129f26b3cf2bb991a46f0a263b254b
This commit is contained in:
Yuval Tassa
2022-10-24 04:15:07 -07:00
committed by Copybara-Service
parent a845223c9e
commit 79dc5056eb
2 changed files with 46 additions and 3 deletions
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src/engine/engine_forward.c
+1 -1
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@@ -760,7 +760,7 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
}
// acceleration-dependent
if (mjcb_control) {
if (mjcb_control && !mjDISABLED(mjDSBL_ACTUATION)) {
mjcb_control(m, d);
}
mj_fwdActuation(m, d);
test/engine/engine_forward_test.cc
+45 -2
View File
@@ -15,6 +15,7 @@
// Tests for engine/engine_forward.c.
#include "src/engine/engine_forward.h"
#include <cstddef>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
@@ -22,6 +23,7 @@
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "src/cc/array_safety.h"
#include "src/engine/engine_callback.h"
#include "src/engine/engine_io.h"
#include "test/fixture.h"
@@ -274,8 +276,6 @@ TEST_F(ImplicitIntegratorTest, EnergyConservation) {
mj_deleteModel(model);
}
// --------------------------- control clamping --------------------------------
TEST_F(ForwardTest, ControlClamping) {
static constexpr char xml[] = R"(
<mujoco>
@@ -344,5 +344,48 @@ TEST_F(ForwardTest, ControlClamping) {
mj_deleteModel(model);
}
void control_callback(const mjModel* m, mjData *d) {
d->ctrl[0] = 2;
}
TEST_F(ForwardTest, MjcbControlDisabled) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge"/>
</body>
</worldbody>
<actuator>
<motor joint="hinge"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// install global control callback
mjcb_control = control_callback;
// call forward
mj_forward(model, data);
// expect that callback was used
EXPECT_EQ(data->ctrl[0], 2.0);
// reset, disable actuation, call forward
mj_resetData(model, data);
model->opt.disableflags |= mjDSBL_ACTUATION;
mj_forward(model, data);
// expect that callback was not used
EXPECT_EQ(data->ctrl[0], 0.0);
// remove global control callback
mjcb_control = nullptr;
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco