1.10/joint.sdf: better default limit values #1112
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* Use `±inf` instead of `±1e16` for position limits * Use `inf` instead of `-1` for effort, velocity limits Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## sdf13 #1112 +/- ##
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Coverage 86.70% 86.71%
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Files 125 125
Lines 15890 15892 +2
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+ Hits 13778 13781 +3
+ Misses 2112 2111 -1
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src/JointAxis.cc
Outdated
| this->dataPtr->upper = limitElement->Get<double>("upper", 1e16).first; | ||
| this->dataPtr->effort = limitElement->Get<double>("effort", -1).first; | ||
| const double kInf = std::numeric_limits<double>::infinity(); | ||
| this->dataPtr->lower = limitElement->Get<double>("lower", -kInf).first; |
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You could pass the variable itself here as the default value, so if it ever changes again, it only needs to be changed on line 64, i.e.
| this->dataPtr->lower = limitElement->Get<double>("lower", -kInf).first; | |
| this->dataPtr->lower = limitElement->Get<double>("lower", this->dataPtr->lower).first; |
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I've deduplicated the default values used in JointAxis::Load in c7feca9
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
The use_parent_model_frame element has already been deprecated and removed, so we can remove the internal variable. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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while deduplicating some default value constants, I noticed an unused variable corresponding to the deprecated and removed |
| <description>Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.</description> | ||
| </element> | ||
| <element name="effort" type="double" default="-1" required="0"> | ||
| <element name="effort" type="double" default="inf" required="0"> |
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The description says "Limit is not enforced if value is negative". Something to
keep in mind when updating gz-physics.
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this was already part of the behavior of the DOM object as of #357
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We'll also need to update sdformat-mjcf https://github.com/gazebosim/gz-mujoco/blob/fd5dec325052b0db93fadc88e667987d27bf378b/sdformat_mjcf/src/sdformat_mjcf/sdformat_to_mjcf/converters/joint.py#L29 |
Follow up to gazebosim/sdformat#1112 Signed-off-by: Steve Peters <scpeters@openrobotics.org>
opened a PR gazebosim/gz-mujoco#106 but its tests are failing |
Follow up to gazebosim/sdformat#1112 Signed-off-by: Steve Peters <scpeters@openrobotics.org>
🦟 Bug fix
Part of #169.
Summary
±infinstead of±1e16for position limitsinfinstead of-1for effort, velocity limitsThis will require a small change in gz-physics, as illustrated by the test failure in gazebosim/gz-physics#401.
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