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Refactor handling of auto-limits.

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PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
This commit is contained in:
Yuval Tassa
2024-02-10 22:00:04 -08:00
committed by Copybara-Service
parent cebd2a657e
commit 3601026b1d
6 changed files with 87 additions and 77 deletions
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src/user/user_model.cc
+6 -6
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@@ -1560,8 +1560,8 @@ void mjCModel::CopyTree(mjModel* m) {
// set joint fields
m->jnt_type[jid] = pj->type;
m->jnt_group[jid] = pj->group;
m->jnt_limited[jid] = pj->limited;
m->jnt_actfrclimited[jid] = pj->actfrclimited;
m->jnt_limited[jid] = (mjtByte)pj->is_limited();
m->jnt_actfrclimited[jid] = (mjtByte)pj->is_actfrclimited();
m->jnt_qposadr[jid] = qposadr;
m->jnt_dofadr[jid] = dofadr;
m->jnt_bodyid[jid] = pj->body->id;
@@ -2237,7 +2237,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tendon_num[i] = (int)pte->path.size();
m->tendon_matid[i] = pte->matid;
m->tendon_group[i] = pte->group;
m->tendon_limited[i] = pte->limited;
m->tendon_limited[i] = (mjtByte)pte->is_limited();
m->tendon_width[i] = (mjtNum)pte->width;
copyvec(m->tendon_solref_lim+mjNREF*i, pte->solref_limit, mjNREF);
copyvec(m->tendon_solimp_lim+mjNIMP*i, pte->solimp_limit, mjNIMP);
@@ -2285,9 +2285,9 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_actadr[i] = m->actuator_actnum[i] ? adr : -1;
adr += m->actuator_actnum[i];
m->actuator_group[i] = pac->group;
m->actuator_ctrllimited[i] = pac->ctrllimited;
m->actuator_forcelimited[i] = pac->forcelimited;
m->actuator_actlimited[i] = pac->actlimited;
m->actuator_ctrllimited[i] = (mjtByte)pac->is_ctrllimited();
m->actuator_forcelimited[i] = (mjtByte)pac->is_forcelimited();
m->actuator_actlimited[i] = (mjtByte)pac->is_actlimited();
m->actuator_actearly[i] = pac->actearly;
m->actuator_cranklength[i] = (mjtNum)pac->cranklength;
copyvec(m->actuator_gear + 6*i, pac->gear, 6);