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

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PiperOrigin-RevId: 598603093
Change-Id: I441631e33e812988694f8eed48c719c6bab86148
This commit is contained in:
Copybara-Service
2024-01-15 07:08:03 -08:00
parent 1e2e0b3053 66a0cd3b0b
commit c77f984d9b
2 changed files with 17 additions and 3 deletions
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unity/Runtime/Components/Joints/MjJointSettings.cs
+9 -1
View File
@@ -164,7 +164,15 @@ namespace Mujoco {
RefFriction.FromMjcf(mjcf, "solreffriction"); RefFriction.FromMjcf(mjcf, "solreffriction");
ImpFriction.FromMjcf(mjcf, "solimpfriction"); ImpFriction.FromMjcf(mjcf, "solimpfriction");
FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f); 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); Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
} }
} }
unity/Runtime/Components/MjActuator.cs
+8 -2
View File
@@ -77,12 +77,18 @@ public class MjActuator : MjComponent {
} }
public void FromMjcf(XmlElement mjcf) { public void FromMjcf(XmlElement mjcf) {
CtrlLimited = mjcf.GetBoolAttribute("ctrllimited", defaultValue: false);
ForceLimited = mjcf.GetBoolAttribute("forcelimited", defaultValue: false);
CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero); CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero);
ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero); ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero);
LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero); LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList(); Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
bool autolimits = (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]["compiler"])
?.GetBoolAttribute("autolimits", true) ??
true;
CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
ForceLimited = mjcf.GetBoolAttribute("forcelimited",
defaultValue: autolimits ? ForceRange != Vector2.zero : false);
} }
} }