Merge of a41fef3

PiperOrigin-RevId: 603332024
Change-Id: I36a171f5c5458a10676fbe4458846bb8d234adf5

Author: copybara-github

.github/workflows/build.yml

@@ -68,7 +68,7 @@ jobs:
         $cmake_extra_args
     - name: Build MuJoCo MPC
       working-directory: build
-      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} --target mjpc agent_test cost_derivatives_test norm_test rollout_test threadpool_test trajectory_test utilities_test direct_force_test direct_optimize_test direct_parameter_test direct_sensor_test direct_trajectory_test direct_utilities_test batch_filter_test batch_prior_test kalman_test unscented_test ${{ matrix.additional_targets }}
+      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} --target mjpc agent_test agent_utilities_test cost_derivatives_test norm_test rollout_test threadpool_test trajectory_test direct_force_test direct_optimize_test direct_parameter_test direct_sensor_test direct_trajectory_test direct_utilities_test batch_filter_test batch_prior_test kalman_test unscented_test cubic_test gradient_planner_test gradient_test linear_test zero_test backward_pass_test ilqg_test robust_planner_test sampling_planner_test state_test task_test utilities_test ${{ matrix.additional_targets }}
     - name: Test MuJoCo MPC
       working-directory: build
       run: ctest -C Release --output-on-failure .

mjpc/agent.cc

@@ -73,6 +73,19 @@ void Agent::Initialize(const mjModel* model) {
   if (model_) mj_deleteModel(model_);
   model_ = mj_copyModel(nullptr, model);  // agent's copy of model
 
+  // check for limits on all actuators
+  int num_missing = 0;
+  for (int i = 0; i < model_->nu; i++) {
+    if (!model_->actuator_ctrllimited[i]) {
+      num_missing++;
+      printf("%s (actuator %i) missing limits\n",
+             model_->names + model_->name_actuatoradr[i], i);
+    }
+  }
+  if (num_missing > 0) {
+    mju_error("Ctrl limits required for all actuators.\n");
+  }
+
   // planner
   planner_ = GetNumberOrDefault(0, model, "agent_planner");
 

mjpc/test/agent/agent_utilities_test.cc

@@ -234,25 +234,6 @@ TEST(AgentUtilitiesTest, Clamp) {
   EXPECT_NEAR(x[2], 0.0, 1.0e-5);
 }
 
-TEST(AgentUtilitiesTest, PowerSequence) {
-  // sequence
-  double sequence[4] = {0.2, 0.3, 0.4, 0.5};
-  int length = 4;
-  double step = 0.1;
-
-  // power
-  double power = 2.0;
-
-  // power sequence
-  PowerSequence(sequence, step, sequence[0], sequence[3], power, length);
-
-  // test
-  EXPECT_NEAR(sequence[0], 0.2, 1.0e-5);
-  EXPECT_NEAR(sequence[1], 0.27142857, 1.0e-5);
-  EXPECT_NEAR(sequence[2], 0.37142857, 1.0e-5);
-  EXPECT_NEAR(sequence[3], 0.5, 1.0e-5);
-}
-
 TEST(AgentUtilitiesTest, FindInterval) {
   // sequence
   std::vector<double> sequence{-1.0, 0.0, 1.0, 2.0};