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Clean up handling of auto-limits.

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PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
This commit is contained in:
Yuval Tassa
2024-02-15 02:42:50 -08:00
committed by Copybara-Service
parent d561995c03
commit ddabfb9b6a
5 changed files with 72 additions and 76 deletions
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src/user/user_init.cc
+6 -6
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@@ -55,8 +55,8 @@ void mjm_defaultJoint(mjmJoint& joint) {
joint.type = mjJNT_HINGE;
joint.axis[2] = 1;
joint.limited = 2;
joint.actfrclimited = 2;
joint.limited = mjLIMITED_AUTO;
joint.actfrclimited = mjLIMITED_AUTO;
mj_defaultSolRefImp(joint.solref_limit, joint.solimp_limit);
mj_defaultSolRefImp(joint.solref_friction, joint.solimp_friction);
joint.urdfeffort = -1;
@@ -267,7 +267,7 @@ void mjm_defaultEquality(mjmEquality& equality) {
// default tendon attributes
void mjm_defaultTendon(mjmTendon& tendon) {
memset(&tendon, 0, sizeof(mjmTendon));
tendon.limited = 2;
tendon.limited = mjLIMITED_AUTO;
tendon.springlength[0] = tendon.springlength[1] = -1;
mj_defaultSolRefImp(tendon.solref_limit, tendon.solimp_limit);
mj_defaultSolRefImp(tendon.solref_friction, tendon.solimp_friction);
@@ -297,9 +297,9 @@ void mjm_defaultActuator(mjmActuator& actuator) {
actuator.gear[0] = 1;
// input/output clamping
actuator.ctrllimited = 2;
actuator.forcelimited = 2;
actuator.actlimited = 2;
actuator.ctrllimited = mjLIMITED_AUTO;
actuator.forcelimited = mjLIMITED_AUTO;
actuator.actlimited = mjLIMITED_AUTO;
}