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Don't infer limited attributes automatically by default.

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This is an amendment to 4bfc2c0311.

Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.

PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
This commit is contained in:
Nimrod Gileadi
2022-09-06 06:11:17 -07:00
committed by Copybara-Service
parent 0784a46f62
commit a693a2d981
15 changed files with 205 additions and 36 deletions
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test/user/user_objects_test.cc
+92
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@@ -604,5 +604,97 @@ TEST_F(LimitedTest, JointLimited) {
mj_deleteModel(model);
}
TEST_F(LimitedTest, ErrorIfLimitedMissingOnJoint) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="false"/>
<worldbody>
<body>
<joint user="1" range="0 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("limited"));
}
TEST_F(LimitedTest, ExplicitLimitedFalseIsOk) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="false"/>
<worldbody>
<body>
<joint user="1" limited="false" range="0 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->jnt_limited[0], 0);
mj_deleteModel(model);
}
TEST_F(LimitedTest, ErrorIfLimitedMissingOnTendon) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="false"/>
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s1"/>
</body>
<site name="s2"/>
</worldbody>
<tendon>
<spatial range="-1 1">
<site site="s1"/>
<site site="s2"/>
</spatial>
</tendon>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("limited"));
EXPECT_THAT(error.data(), HasSubstr("tendon"));
}
TEST_F(LimitedTest, ErrorIfForceLimitedMissingOnActuator) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="false"/>
<worldbody>
<body>
<joint type="slide" name="J1"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<position joint="J1" forcerange="0 100"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("forcelimited"));
EXPECT_THAT(error.data(), HasSubstr("forcerange"));
EXPECT_THAT(error.data(), HasSubstr("actuator"));
}
} // namespace
} // namespace mujoco