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Check the autolimits attribute before assigning default values for joint limitedness

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Bálint Hodossy
2024-01-11 16:09:06 +00:00
parent 60cd7248c2
commit 56b30d9d15
1 changed files with 8 additions and 1 deletions
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unity/Runtime/Components/Joints/MjJointSettings.cs
+8 -1
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@@ -164,7 +164,14 @@ namespace Mujoco {
RefFriction.FromMjcf(mjcf, "solreffriction"); RefFriction.FromMjcf(mjcf, "solreffriction");
ImpFriction.FromMjcf(mjcf, "solimpfriction"); ImpFriction.FromMjcf(mjcf, "solimpfriction");
FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f); 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); Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
} }
} }