Merge pull request #1330 from Balint-H:fix/unity-joint-limits

PiperOrigin-RevId: 598603093 Change-Id: I441631e33e812988694f8eed48c719c6bab86148
2024-01-15 07:08:03 -08:00
parent 1e2e0b3053 66a0cd3b0b
commit c77f984d9b
2 changed files with 17 additions and 3 deletions
@@ -164,7 +164,15 @@ namespace Mujoco {
      RefFriction.FromMjcf(mjcf, "solreffriction");
      ImpFriction.FromMjcf(mjcf, "solimpfriction");
      FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
-      Limited = mjcf.GetBoolAttribute("limited", false);
+
+      bool defaultLimited = false;
+      if ((mjcf.OwnerDocument.GetElementsByTagName("compiler") [0]["compiler"])
+              ?.GetBoolAttribute("autolimits", true) ??
+          true) {
+        defaultLimited = mjcf.HasAttribute("range");
+      }
+
+      Limited = mjcf.GetBoolAttribute("limited", defaultLimited);
      Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
    }
  }