Handle the implicit auto value for limits now written by the compiler to the xml

2024-03-14 12:38:56 +00:00
parent 069708a599
commit c2bef232b6
3 changed files with 27 additions and 15 deletions
@@ -165,14 +165,7 @@ namespace Mujoco {
      ImpFriction.FromMjcf(mjcf, "solimpfriction");
      FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);

-      bool defaultLimited = false;
-      if ((mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]?["compiler"])
-              ?.GetBoolAttribute("autolimits", true) ??
-          true) {
-        defaultLimited = mjcf.HasAttribute("range");
-      }
-
-      Limited = mjcf.GetBoolAttribute("limited", defaultLimited);
+      Limited = mjcf.GetLimitedAttribute("limited", mjcf.HasAttribute("range"));
      Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
    }
  }