Yuval Tassa
51aa375af0
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint. See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases. - Add simple car model to `model/`. - Move actuation-related test models into `engine/testdata/actuation/`. PiperOrigin-RevId: 549355941 Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
83 lines
2.6 KiB
C++
83 lines
2.6 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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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mujoco.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 ::testing::NotNull;
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using EngineVfsTest = MujocoTest;
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TEST_F(EngineVfsTest, AddFileVFS) {
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file1 = "activation.xml";
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std::string file2 = "damper.xml";
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std::string file3 = "refsite.xml";
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std::FILE* fp1 = std::fopen((dir + file1).c_str(), "r");
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ASSERT_THAT(fp1, NotNull()) << "Input file1 missing.";
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std::fclose(fp1);
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std::FILE* fp2 = std::fopen((dir + file2).c_str(), "r");
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ASSERT_THAT(fp2, NotNull()) << "Input file2 missing.";
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std::fclose(fp2);
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std::FILE* fp3 = std::fopen((dir + file3).c_str(), "r");
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ASSERT_THAT(fp3, NotNull()) << "Input file3 missing.";
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std::fclose(fp3);
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auto mj_vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(mj_vfs.get());
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EXPECT_THAT(mj_vfs->nfile, 0);
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EXPECT_THAT(mj_addFileVFS(mj_vfs.get(), dir.c_str(), file1.c_str()), 0);
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EXPECT_THAT(mj_vfs->nfile, 1);
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EXPECT_THAT(mj_vfs->filename[0], file1);
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EXPECT_THAT(mj_addFileVFS(mj_vfs.get(), dir.c_str(), file2.c_str()), 0);
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EXPECT_THAT(mj_vfs->nfile, 2);
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EXPECT_THAT(mj_vfs->filename[0], file1);
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EXPECT_THAT(mj_vfs->filename[1], file2);
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EXPECT_THAT(mj_addFileVFS(mj_vfs.get(), dir.c_str(), file3.c_str()), 0);
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EXPECT_THAT(mj_vfs->nfile, 3);
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EXPECT_THAT(mj_vfs->filename[0], file1);
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EXPECT_THAT(mj_vfs->filename[1], file2);
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EXPECT_THAT(mj_vfs->filename[2], file3);
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mj_deleteFileVFS(mj_vfs.get(), file1.c_str());
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EXPECT_THAT(mj_vfs->nfile, 2);
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EXPECT_THAT(mj_vfs->filename[0], file2);
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EXPECT_THAT(mj_vfs->filename[1], file3);
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mj_deleteFileVFS(mj_vfs.get(), file3.c_str());
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EXPECT_THAT(mj_vfs->nfile, 1);
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EXPECT_THAT(mj_vfs->filename[0], file2);
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mj_deleteFileVFS(mj_vfs.get(), file2.c_str());
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EXPECT_THAT(mj_vfs->nfile, 0);
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mj_deleteVFS(mj_vfs.get());
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}
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} // namespace
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} // namespace mujoco
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