Merge pull request #657 from Balint-H:fix/spring-import-units

PiperOrigin-RevId: 495845558 Change-Id: I391a89403b8e5be170ddefe36d29dbd916970995
2022-12-16 05:00:07 -08:00
parent 58b623ae5c a0ab1940bf
commit 516d13d678
1 changed files with 1 additions and 1 deletions
@@ -72,7 +72,7 @@ namespace Mujoco {
      var springDamper = mjcf.GetVector2Attribute("springdamper", Vector2.zero);
      TimeConstant = springDamper.x;
      DampingRatio = springDamper.y;
-      EquilibriumPose = mjcf.GetFloatAttribute("springref", 0.0f);
+      EquilibriumPose = MjSceneImportSettings.AnglesInDegrees? mjcf.GetFloatAttribute("springref", 0.0f) : mjcf.GetFloatAttribute("springref", 0.0f) * Mathf.Rad2Deg;
      Damping = mjcf.GetFloatAttribute("damping", 0.0f);
      Stiffness = mjcf.GetFloatAttribute("stiffness", 0.0f);
    }