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Change the default of <compiler autolimits> from "false" to "true".

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PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
This commit is contained in:
Yuval Tassa
2023-10-13 05:04:36 -07:00
committed by Copybara-Service
parent 389e13938e
commit d88675a034
5 changed files with 48 additions and 32 deletions
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test/xml/xml_native_writer_test.cc
+21 -7
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@@ -255,6 +255,19 @@ TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsAutoLimitsFalse) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="false"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"false\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
static constexpr char xml[] = R"(
<mujoco>
@@ -272,6 +285,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
mj_deleteModel(model);
}
@@ -290,7 +304,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
@@ -338,7 +352,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
@@ -367,7 +381,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
@@ -418,7 +432,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
mj_deleteModel(model);
@@ -442,7 +456,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
mj_deleteModel(model);
@@ -555,7 +569,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
mj_deleteModel(model);
@@ -578,7 +592,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
mj_deleteModel(model);