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Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.

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PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
This commit is contained in:
Yuval Tassa
2023-08-14 07:18:03 -07:00
committed by Copybara-Service
parent abfa08f6cd
commit a276c49c30
9 changed files with 29 additions and 26 deletions
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src/xml/xml_native_reader.cc
+6 -6
View File
@@ -140,8 +140,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"material", "?", "8", "texture", "emission", "specular", "shininess",
"reflectance", "rgba", "texrepeat", "texuniform"},
{"joint", "?", "21", "type", "group", "pos", "axis", "springdamper",
"limited", "actuatorforcelimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorforcerange",
"limited", "actuatorfrclimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange",
"margin", "ref", "springref", "armature", "damping", "frictionloss", "user"},
{"geom", "?", "31", "type", "pos", "quat", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
@@ -239,9 +239,9 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
"springdamper", "limited", "actuatorforcelimited",
"springdamper", "limited", "actuatorfrclimited",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"stiffness", "range", "actuatorforcerange", "margin", "ref", "springref",
"stiffness", "range", "actuatorfrcrange", "margin", "ref", "springref",
"armature", "damping", "frictionloss", "user"},
{"freejoint", "*", "2", "name", "group"},
{"geom", "*", "33", "name", "class", "type", "contype", "conaffinity", "condim",
@@ -1318,7 +1318,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
pjoint->type = (mjtJoint)n;
}
MapValue(elem, "limited", &pjoint->limited, TFAuto_map, 3);
MapValue(elem, "actuatorforcelimited", &pjoint->actfrclimited, TFAuto_map, 3);
MapValue(elem, "actuatorfrclimited", &pjoint->actfrclimited, 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);
@@ -1329,7 +1329,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjCJoint* pjoint) {
ReadAttr(elem, "springdamper", 2, pjoint->springdamper, text);
ReadAttr(elem, "stiffness", 1, &pjoint->stiffness, text);
ReadAttr(elem, "range", 2, pjoint->range, text);
ReadAttr(elem, "actuatorforcerange", 2, pjoint->actfrcrange, text);
ReadAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, text);
ReadAttr(elem, "margin", 1, &pjoint->margin, text);
ReadAttr(elem, "ref", 1, &pjoint->ref, text);
ReadAttr(elem, "springref", 1, &pjoint->springref, text);
src/xml/xml_native_writer.cc
+2 -2
View File
@@ -228,7 +228,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
bool afrange_defined = pjoint->actfrcrange[0]!=0 || pjoint->actfrcrange[1]!=0;
bool aflimited_inferred = def->joint.actfrclimited==2 && pjoint->actfrclimited==afrange_defined;
if (writingdefaults || !aflimited_inferred) {
WriteAttrKey(elem, "actutorforcelimited", TFAuto_map, 3,
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3,
pjoint->actfrclimited, def->joint.actfrclimited);
}
@@ -245,7 +245,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
WriteAttr(elem, "solimpfriction", mjNIMP, pjoint->solimp_friction, def->joint.solimp_friction);
WriteAttr(elem, "stiffness", 1, &pjoint->stiffness, &def->joint.stiffness);
WriteAttr(elem, "range", 2, pjoint->range, def->joint.range);
WriteAttr(elem, "actuatorforcerange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
WriteAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
WriteAttr(elem, "margin", 1, &pjoint->margin, &def->joint.margin);
WriteAttr(elem, "armature", 1, &pjoint->armature, &def->joint.armature);
WriteAttr(elem, "damping", 1, &pjoint->damping, &def->joint.damping);