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Make "acc" the default computation stage for sensors of type user.

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PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
This commit is contained in:
Yuval Tassa
2022-12-03 07:49:27 -08:00
committed by Copybara-Service
parent 66cb7d611b
commit dee1d6020a
4 changed files with 26 additions and 5 deletions
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test/xml/xml_native_reader_test.cc
+19
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@@ -967,6 +967,25 @@ TEST_F(SensorParseTest, UserObjNameNoType) {
EXPECT_THAT(error.data(), HasSubstr("objname 'kevin' given but"));
}
TEST_F(SensorParseTest, UserNeedstageAcc) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="1" needstage="vel"/>
<user dim="1"/>
<user dim="1" needstage="pos"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->sensor_needstage[0], mjSTAGE_VEL);
EXPECT_EQ(model->sensor_needstage[1], mjSTAGE_ACC);
EXPECT_EQ(model->sensor_needstage[2], mjSTAGE_POS);
mj_deleteModel(model);
}
// ------------- test general parsing ------------------------------------------
TEST_F(XMLReaderTest, ZnearZeroNotAllowed) {