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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
Download Patch File Download Diff File Expand all files Collapse all files
test/xml/xml_native_reader_test.cc
+1
View File
@@ -316,6 +316,7 @@ TEST_F(UserDataTest, ReadShellParameter) {
TEST_F(UserDataTest, ReadsDamper) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true"/>
<worldbody>
<body>
<geom size="1"/>
test/xml/xml_native_writer_test.cc
+25 -12
View File
@@ -144,7 +144,7 @@ TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint name="hinge" range="-1 1"/>
@@ -160,10 +160,10 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimited) {
TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint name="hinge" limited="true" range="-1 1"/>
@@ -174,15 +174,16 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsJointLimitedFalse) {
TEST_F(XMLWriterTest, KeepsJointLimitedFalseIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint name="hinge" limited="false" range="-1 1"/>
@@ -200,7 +201,7 @@ TEST_F(XMLWriterTest, KeepsJointLimitedFalse) {
TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint type="slide"/>
@@ -219,15 +220,16 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimited) {
TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint type="slide"/>
@@ -246,15 +248,16 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsTendonLimitedFalse) {
TEST_F(XMLWriterTest, KeepsTendonLimitedFalseIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint type="slide"/>
@@ -280,6 +283,7 @@ TEST_F(XMLWriterTest, KeepsTendonLimitedFalse) {
TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
@@ -293,14 +297,16 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
@@ -314,6 +320,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
mj_deleteModel(model);
@@ -322,6 +329,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
@@ -342,6 +350,7 @@ TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
@@ -360,9 +369,10 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimited) {
TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
@@ -404,6 +414,7 @@ TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
@@ -417,6 +428,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
mj_deleteModel(model);
@@ -438,6 +450,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
mj_deleteModel(model);