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Remove urdfeffort attribute, parse URDF "effort" into mjsJoint.actforcerange.

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PiperOrigin-RevId: 630796429
Change-Id: I45363aca8afcce68bf48b2e8bdb556b39852f073
This commit is contained in:
Yuval Tassa
2024-05-05 03:27:13 -07:00
committed by Copybara-Service
parent 61a651c63a
commit ac1af8e461
4 changed files with 17 additions and 22 deletions
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src/user/user_objects.cc
+1 -11
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@@ -2411,8 +2411,7 @@ void mjCGeom::Compile(void) {
if (type==mjGEOM_HFIELD) {
size[0] = hfield->size[0];
size[1] = hfield->size[1];
size[2] = 0.5*(0.5*hfield->size[2] +
hfield->size[3]);
size[2] = 0.25 * hfield->size[2] + 0.5 * hfield->size[3];
} else if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
const double* aamm = mesh->aamm();
size[0] = mju_max(fabs(aamm[0]), fabs(aamm[3]));
@@ -5021,7 +5020,6 @@ void mjCActuator::CopyFromSpec() {
void mjCActuator::ResolveReferences(const mjCModel* m) {
mjCJoint* pjnt;
switch (trntype) {
case mjTRN_JOINT:
case mjTRN_JOINTINPARENT:
@@ -5031,14 +5029,6 @@ void mjCActuator::ResolveReferences(const mjCModel* m) {
throw mjCError(this,
"unknown transmission target '%s' for actuator id = %d", target_.c_str(), id);
}
pjnt = (mjCJoint*) ptarget;
// apply urdfeffort
if (pjnt->spec.urdfeffort>0) {
forcerange[0] = -pjnt->spec.urdfeffort;
forcerange[1] = pjnt->spec.urdfeffort;
forcelimited = mjLIMITED_TRUE;
}
break;
case mjTRN_SLIDERCRANK: