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Unity plug-in: Fix for when xml file has no <compiler> section.

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PiperOrigin-RevId: 598646137
Change-Id: Id27635dc3064f8568ae0d86c2cdee8c2d414dd2f
This commit is contained in:
Tom Erez
2024-01-15 12:03:32 -08:00
committed by Copybara-Service
parent c77f984d9b
commit 2388b651e8
2 changed files with 3 additions and 3 deletions
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unity/Runtime/Components/Joints/MjJointSettings.cs
+1 -1
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@@ -166,7 +166,7 @@ namespace Mujoco {
FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f); FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
bool defaultLimited = false; bool defaultLimited = false;
if ((mjcf.OwnerDocument.GetElementsByTagName("compiler") [0]["compiler"]) if ((mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]?["compiler"])
?.GetBoolAttribute("autolimits", true) ?? ?.GetBoolAttribute("autolimits", true) ??
true) { true) {
defaultLimited = mjcf.HasAttribute("range"); defaultLimited = mjcf.HasAttribute("range");
unity/Runtime/Components/MjActuator.cs
+2 -2
View File
@@ -82,9 +82,9 @@ public class MjActuator : MjComponent {
LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero); LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList(); Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
bool autolimits = (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]["compiler"]) bool autolimits = (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]?["compiler"])
?.GetBoolAttribute("autolimits", true) ?? ?.GetBoolAttribute("autolimits", true) ??
true; false;
CtrlLimited = mjcf.GetBoolAttribute("ctrllimited", CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
defaultValue: autolimits ? CtrlRange != Vector2.zero : false); defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
ForceLimited = mjcf.GetBoolAttribute("forcelimited", ForceLimited = mjcf.GetBoolAttribute("forcelimited",