Yuval Tassa
893c404230
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group. - The first 6 actuator groups are toggleable in the `simulate` viewer. - Minor refactor and cleanup of actuator documentation. https://youtu.be/H9qG9Zf2W44 Fixes #1092. PiperOrigin-RevId: 578335600 Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
89 lines
3.4 KiB
C++
89 lines
3.4 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 structures in the public headers.
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#include <cstddef>
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#include <cstring>
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#include <string>
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#include <gtest/gtest.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.h>
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#include <mujoco/mjui.h>
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#include <mujoco/mjvisualize.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 HeaderTest = MujocoTest;
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TEST_F(HeaderTest, IntsHave4Bytes) {
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EXPECT_EQ(4, sizeof(int));
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}
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TEST_F(HeaderTest, IntsHaveAtLeast31Bits) {
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int shift_left_30 = 1 << 30;
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EXPECT_GT(shift_left_30, 0);
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}
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TEST_F(HeaderTest, EnumsAreInts) {
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EXPECT_EQ(sizeof(mjtDisableBit), sizeof(int));
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EXPECT_EQ(sizeof(mjtEnableBit), sizeof(int));
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EXPECT_EQ(sizeof(mjtJoint), sizeof(int));
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EXPECT_EQ(sizeof(mjtGeom), sizeof(int));
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EXPECT_EQ(sizeof(mjtCamLight), sizeof(int));
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EXPECT_EQ(sizeof(mjtTexture), sizeof(int));
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EXPECT_EQ(sizeof(mjtIntegrator), sizeof(int));
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EXPECT_EQ(sizeof(mjtCone), sizeof(int));
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EXPECT_EQ(sizeof(mjtJacobian), sizeof(int));
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EXPECT_EQ(sizeof(mjtSolver), sizeof(int));
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EXPECT_EQ(sizeof(mjtEq), sizeof(int));
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EXPECT_EQ(sizeof(mjtWrap), sizeof(int));
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EXPECT_EQ(sizeof(mjtTrn), sizeof(int));
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EXPECT_EQ(sizeof(mjtDyn), sizeof(int));
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EXPECT_EQ(sizeof(mjtGain), sizeof(int));
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EXPECT_EQ(sizeof(mjtBias), sizeof(int));
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EXPECT_EQ(sizeof(mjtObj), sizeof(int));
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EXPECT_EQ(sizeof(mjtConstraint), sizeof(int));
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EXPECT_EQ(sizeof(mjtConstraintState), sizeof(int));
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EXPECT_EQ(sizeof(mjtSensor), sizeof(int));
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EXPECT_EQ(sizeof(mjtStage), sizeof(int));
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EXPECT_EQ(sizeof(mjtDataType), sizeof(int));
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EXPECT_EQ(sizeof(mjtLRMode), sizeof(int));
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EXPECT_EQ(sizeof(mjtWarning), sizeof(int));
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EXPECT_EQ(sizeof(mjtTimer), sizeof(int));
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EXPECT_EQ(sizeof(mjtGridPos), sizeof(int));
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EXPECT_EQ(sizeof(mjtFramebuffer), sizeof(int));
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EXPECT_EQ(sizeof(mjtFontScale), sizeof(int));
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EXPECT_EQ(sizeof(mjtFont), sizeof(int));
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EXPECT_EQ(sizeof(mjtButton), sizeof(int));
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EXPECT_EQ(sizeof(mjtEvent), sizeof(int));
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EXPECT_EQ(sizeof(mjtItem), sizeof(int));
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EXPECT_EQ(sizeof(mjtCatBit), sizeof(int));
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EXPECT_EQ(sizeof(mjtMouse), sizeof(int));
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EXPECT_EQ(sizeof(mjtPertBit), sizeof(int));
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EXPECT_EQ(sizeof(mjtCamera), sizeof(int));
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EXPECT_EQ(sizeof(mjtLabel), sizeof(int));
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EXPECT_EQ(sizeof(mjtFrame), sizeof(int));
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EXPECT_EQ(sizeof(mjtVisFlag), sizeof(int));
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EXPECT_EQ(sizeof(mjtRndFlag), sizeof(int));
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EXPECT_EQ(sizeof(mjtStereo), sizeof(int));
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}
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} // namespace
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} // namespace mujoco
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