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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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src/xml/xml_native_reader.cc
+10 -25
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@@ -1092,9 +1092,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
if (MapValue(elem, "type", &n, joint_map, joint_sz)) {
pjoint->type = (mjtJoint)n;
}
if (MapValue(elem, "limited", &n, bool_map, 2)) {
pjoint->limited = (n==1);
}
MapValue(elem, "limited", &pjoint->limited, TFAuto_map, 3);
ReadAttrInt(elem, "group", &pjoint->group);
ReadAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, text, false, false);
@@ -1350,7 +1348,6 @@ void mjXReader::OneEquality(XMLElement* elem, mjCEquality* pequality) {
// tendon element parser
void mjXReader::OneTendon(XMLElement* elem, mjCTendon* pten) {
int n;
string text;
// read attributes
@@ -1358,9 +1355,7 @@ void mjXReader::OneTendon(XMLElement* elem, mjCTendon* pten) {
ReadAttrTxt(elem, "class", pten->classname);
ReadAttrInt(elem, "group", &pten->group);
ReadAttrTxt(elem, "material", pten->material);
if (MapValue(elem, "limited", &n, bool_map, 2)) {
pten->limited = (n==1);
}
MapValue(elem, "limited", &pten->limited, TFAuto_map, 3);
ReadAttr(elem, "width", 1, &pten->width, text);
ReadAttr(elem, "solreflimit", mjNREF, pten->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pten->solimp_limit, text, false, false);
@@ -1392,15 +1387,9 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
ReadAttrTxt(elem, "name", pact->name);
ReadAttrTxt(elem, "class", pact->classname);
ReadAttrInt(elem, "group", &pact->group);
if (MapValue(elem, "ctrllimited", &n, bool_map, 2)) {
pact->ctrllimited = (n==1);
}
if (MapValue(elem, "forcelimited", &n, bool_map, 2)) {
pact->forcelimited = (n==1);
}
if (MapValue(elem, "actlimited", &n, bool_map, 2)) {
pact->actlimited = (n==1);
}
MapValue(elem, "ctrllimited", &pact->ctrllimited, TFAuto_map, 3);
MapValue(elem, "forcelimited", &pact->forcelimited, TFAuto_map, 3);
MapValue(elem, "actlimited", &pact->actlimited, TFAuto_map, 3);
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
ReadAttr(elem, "forcerange", 2, pact->forcerange, text);
ReadAttr(elem, "actrange", 2, pact->actrange, text);
@@ -1518,7 +1507,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
pact->dyntype = mjDYN_INTEGRATOR;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
pact->actlimited = true;
pact->actlimited = 1;
pact->biasprm[1] = -pact->gainprm[0];
// require actrange
if (!ReadAttr(elem, "actrange", 2, pact->actrange, text)) {
@@ -1544,7 +1533,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
// implied parameters
pact->ctrllimited = true;
pact->ctrllimited = 1;
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_AFFINE;
pact->biastype = mjBIAS_NONE;
@@ -1622,7 +1611,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
// implied parameters
pact->ctrllimited = true;
pact->ctrllimited = 1;
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_NONE;
@@ -1728,9 +1717,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttr(ejnt, "solimpfix", mjNIMP, comp.def[kind].equality.solimp, text, false, false);
// joint attributes
if (MapValue(ejnt, "limited", &n, bool_map, 2)) {
comp.def[kind].joint.limited = (n==1);
}
MapValue(elem, "limited", &comp.def[kind].joint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &comp.def[kind].joint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, comp.def[kind].joint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, comp.def[kind].joint.solimp_limit, text, false, false);
@@ -1762,9 +1749,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttr(eten, "solimpfix", mjNIMP, comp.def[kind].equality.solimp, text, false, false);
// tendon attributes
if (MapValue(eten, "limited", &n, bool_map, 2)) {
comp.def[kind].tendon.limited = (n==1);
}
MapValue(elem, "limited", &comp.def[kind].tendon.limited, TFAuto_map, 3);
ReadAttrInt(eten, "group", &comp.def[kind].tendon.group);
ReadAttr(eten, "solreflimit", mjNREF, comp.def[kind].tendon.solref_limit, text, false, false);
ReadAttr(eten, "solimplimit", mjNIMP, comp.def[kind].tendon.solimp_limit, text, false, false);