Nimrod Gileadi
a693a2d981
This is an amendment to 4bfc2c0311.
Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.
PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
48 lines
1.5 KiB
XML
48 lines
1.5 KiB
XML
<mujoco>
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<compiler autolimits="true" />
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<default>
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<default class="limited_false">
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<joint limited="false"/>
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</default>
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<default class="limited_true">
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<joint limited="true"/>
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<default class="limited_auto">
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<joint limited="auto"/>
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</default>
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</default>
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<default class="range_defined">
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<joint range="-1.57 1.57"/>
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</default>
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</default>
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<!--
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`user` attributes of the joints below indicate the expected state of the associated
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jnt_limited property in the compiled model.
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-->
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<worldbody>
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<body>
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<joint user="0"/>
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<joint user="1" range="0 1"/>
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<joint user="0" range="0 1" limited="false"/>
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<joint user="1" range="0 1" limited="true"/>
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<joint user="0" range="0 1" class="limited_false"/>
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<joint user="1" range="0 1" class="limited_true"/>
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<geom size="1"/>
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</body>
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<!-- adding another body since bodies are allowed a maximum of 6 DoFs -->
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<body>
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<joint user="1" range="0 1" class="limited_false" limited="true"/>
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<joint user="0" range="0 1" class="limited_true" limited="false"/>
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<joint user="1" class="range_defined"/>
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<joint user="1" range="0 1" class="limited_auto"/>
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<joint user="1" range="0 1" limited="auto"/>
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<joint user="0" limited="auto"/>
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<geom size="1"/>
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</body>
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<body>
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<!-- free joints should remain unlimited even if a (meaningless) range is defined -->
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<joint user="0" type="free" class="range_defined"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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