Check the autolimits attribute before assigning default values for joint limitedness

2024-01-11 16:09:06 +00:00
parent 60cd7248c2
commit 56b30d9d15
1 changed files with 8 additions and 1 deletions
@@ -164,7 +164,14 @@ namespace Mujoco {
      RefFriction.FromMjcf(mjcf, "solreffriction");
      ImpFriction.FromMjcf(mjcf, "solimpfriction");
      FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
-      Limited = mjcf.GetBoolAttribute("limited", false);
+
+      bool defaultLimited = false;
+      if (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0] is not XmlElement
+              compilerElement || !compilerElement.GetBoolAttribute("autolimits").Equals("false")) {
+        defaultLimited = mjcf.HasAttribute("range");
+      }
+
+      Limited = mjcf.GetBoolAttribute("limited", defaultLimited);
      Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
    }
  }