Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
81 lines
2.3 KiB
C++
81 lines
2.3 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for engine/engine_forward.c.
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#include "src/engine/engine_forward.h"
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_io.h"
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ForwardTest = MujocoTest;
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TEST_F(ForwardTest, ActLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<option timestep="0.01"/>
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<worldbody>
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<body>
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<joint name="slide" type="slide" axis="1 0 0"/>
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<geom size=".1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="slide" gainprm="100" biasprm="0 -100" biastype="affine"
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dynprm="10" dyntype="integrator"
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actlimited="true" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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mjData* data = mj_makeData(model);
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data->ctrl[0] = 1.0;
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// integrating up from 0, we will hit the clamp after 99 steps
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for (int i=0; i<200; i++) {
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mj_step(model, data);
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// always greater than lower bound
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ASSERT_GT(data->act[0], -1);
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// after 99 steps we hit the upper bound
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if (i < 99) ASSERT_LT(data->act[0], 1);
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if (i >= 99) ASSERT_EQ(data->act[0], 1);
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}
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data->ctrl[0] = -1.0;
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// integrating down from 1, we will hit the clamp after 199 steps
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for (int i=0; i<300; i++) {
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mj_step(model, data);
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// always smaller than upper bound
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ASSERT_LT(data->act[0], model->actuator_actrange[1]);
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// after 199 steps we hit the lower bound
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if (i < 199) ASSERT_GT(data->act[0], model->actuator_actrange[0]);
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if (i >= 199) ASSERT_EQ(data->act[0], model->actuator_actrange[0]);
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}
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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