Don't infer limited attributes automatically by default.

nimrod-gileadi · copybara-github · commit 154e039d8f82 · 2022-09-06T06:11:45.000-07:00
This is an amendment to 4bfc2c0311233017293748e558a114a510a21f91.

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: Ia76247064e54f9f876061d8455f84cb939e7d73e
diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
@@ -5,6 +5,7 @@
   <children>
     <element name="compiler">
       <attributes>
+        <attribute name="autolimits" type="keyword" valid_values="false true"/>
         <attribute name="boundmass" type="float"/>
         <attribute name="boundinertia" type="float"/>
         <attribute name="settotalmass" type="float"/>
diff --git a/dm_control/suite/utils/randomizers_test.py b/dm_control/suite/utils/randomizers_test.py
@@ -50,7 +50,7 @@ def test_single_joint_of_each_type(self):
             </body>
             <body>
               <geom type="box" size="1 1 1"/>
-              <joint name="ball" type="ball"/>
+              <joint name="ball" type="ball" limited="false"/>
             </body>
             <body>
               <geom type="box" size="1 1 1"/>
