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Automatically infer *limited field from *range field for joints, tendons and actuators.

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PiperOrigin-RevId: 467980594
Change-Id: If635c55a90cf949796b99a41395a6c2c4f7ea094
This commit is contained in:
Kevin Zakka
2022-08-16 11:34:41 -07:00
committed by Copybara-Service
parent 29535a8eca
commit 4bfc2c0311
9 changed files with 474 additions and 58 deletions
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doc/changelog.rst
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@@ -20,6 +20,13 @@ General
the free camera at model load time.
- Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
- ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
- Joint and tendon ``limited`` attribute and actuator ``ctrllimited``, ``forcelimited`` and ``actlimited`` attributes
now default to ``"auto"``, which means they are automatically set to ``true`` if the corresponding range is
defined and disabled otherwise.
.. attention::
This is a minor breaking change. Code where a range was defined and limited was unspecified will now
be limited. Please explicitly set limited to ``false`` to revert to the previous behavior.
Deleted/deprecated features
^^^^^^^^^^^^^^^^^^^^^^^^^^^