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Don't infer limited attributes automatically by default.

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This is an amendment to 4bfc2c0311.

Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.

PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
This commit is contained in:
Nimrod Gileadi
2022-09-06 06:11:17 -07:00
committed by Copybara-Service
parent 0784a46f62
commit a693a2d981
15 changed files with 205 additions and 36 deletions
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doc/changelog.rst
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@@ -31,13 +31,18 @@ General
- Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site`
transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<general>` documentation and
`refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model.
- Joint and tendon ``limited`` attribute and actuator ``ctrllimited``, ``forcelimited`` and ``actlimited`` attributes
now default to ``auto`` rather than ``false``. Limits are automatically set to ``true`` if the corresponding range *is
defined* and ``false`` otherwise.
- Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator
:at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the
corresponding range *is defined* and ``false`` otherwise.
If ``autolimits="false"`` (the default) models where a :at:`range` attribute is specified without the :at:`limited`
attribute will fail to compile. A future release will change the default of :at:`autolimits` to ``true``, and this
compilation error allows users to catch this future change of behavior.
.. attention::
This is a minor breaking change. In models where a range was defined but :at:`limited` was unspecified, the target
element will now be limited. Explicitly set limited to ``false`` to revert to the previous behavior.
This is a breaking change. In models where a range was defined but :at:`limited` was unspecified, explicitly set
limited to ``false`` or remove the range to maintain the current behavior of your model.
- Added moment of inertia computation for all well-formed meshes. This option is activated by setting the compiler
flag :at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the future.