chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_urdf.cc
+16 -9
View File
@@ -13,6 +13,7 @@
// limitations under the License.
#include <array>
#include <cstdlib>
#include <cstring>
#include <iostream>
#include <string>
@@ -488,17 +489,23 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
// limit element
if ((elem = FindSubElem(joint_elem, "limit"))) {
ReadAttr(elem, "lower", 1, pjoint->range, text);
ReadAttr(elem, "upper", 1, pjoint->range+1, text);
bool is_limited = mjuu_defined(pjoint->range[0]) &&
mjuu_defined(pjoint->range[1]) &&
pjoint->range[0] < pjoint->range[1];
pjoint->limited = is_limited ? mjLIMITED_TRUE : mjLIMITED_FALSE;
bool haslower = ReadAttr(elem, "lower", 1, pjoint->range, text);
bool hasupper = ReadAttr(elem, "upper", 1, pjoint->range+1, text);
// handle range mis-specification, otherwise the default mjLIMITED_AUTO will do the right thing
bool bad_range = (haslower != hasupper) || pjoint->range[0] > pjoint->range[1];
if (bad_range) {
pjoint->limited = mjLIMITED_FALSE;
}
// ReadAttr(elem, "velocity", 1, &pjoint->maxvel, text); // no maxvel in MuJoCo
ReadAttr(elem, "effort", 1, &pjoint->urdfeffort, text);
} else {
pjoint->limited = mjLIMITED_FALSE;
double effort = 0;
ReadAttr(elem, "effort", 1, &effort, text);
effort = std::abs(effort);
if (effort > 0) {
pjoint->actfrcrange[0] = -effort;
pjoint->actfrcrange[1] = effort;
}
}
}