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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/xml/xml_urdf.cc
+5 -4
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@@ -487,14 +487,15 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
if ((elem = FindSubElem(joint_elem, "limit"))) {
ReadAttr(elem, "lower", 1, pjoint->range, text);
ReadAttr(elem, "upper", 1, pjoint->range+1, text);
pjoint->limited = (mjuu_defined(pjoint->range[0]) &&
mjuu_defined(pjoint->range[1]) &&
pjoint->range[0] < pjoint->range[1]);
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;
// ReadAttr(elem, "velocity", 1, &pjoint->maxvel, text); // no maxvel in MuJoCo
ReadAttr(elem, "effort", 1, &pjoint->urdfeffort, text);
} else {
pjoint->limited = 0;
pjoint->limited = mjLIMITED_FALSE;
}
}