1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
|
/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <TestHelpers.hpp>
#include <dart/dart.hpp>
#include <dart/utils/sdf/sdf.hpp>
#include <gtest/gtest.h>
//========================================================================================
TEST(Issue1583, ServoJointWithPositionLimits)
{
const double pos_lb = -0.1;
const double pos_ub = +0.1;
const double vel_desired = 1;
auto skel = dart::utils::SdfParser::readSkeleton(
"dart://sample/sdf/test/test_issue1583.model");
ASSERT_NE(skel, nullptr);
auto world = dart::simulation::World::create();
world->setGravity(Eigen::Vector3d::Zero());
world->addSkeleton(skel);
ASSERT_EQ(world->getNumSkeletons(), 1);
auto* joint = skel->getJoint("j1");
joint->setPositionLowerLimit(0, pos_lb);
joint->setPositionUpperLimit(0, pos_ub);
joint->setLimitEnforcement(true);
joint->setActuatorType(dart::dynamics::Joint::SERVO);
EXPECT_DOUBLE_EQ(0, joint->getPosition(0));
EXPECT_DOUBLE_EQ(0, joint->getVelocity(0));
EXPECT_DOUBLE_EQ(0, joint->getAcceleration(0));
for (std::size_t i = 0; i < 1000; ++i)
{
joint->setCommand(0, vel_desired);
world->step();
const double pos = joint->getPosition(0);
const double vel = joint->getVelocity(0);
EXPECT_LE(pos, pos_ub + 1e-6);
EXPECT_GE(pos, pos_lb - 1e-6);
if (std::abs(vel - vel_desired) > 1e-6)
{
EXPECT_NEAR(pos, pos_ub, 1e-2);
}
}
EXPECT_NEAR(pos_ub, joint->getPosition(0), 1e-2);
EXPECT_NEAR(0, joint->getVelocity(0), 1e-6);
}
|
