mujoco: Fix joint limits parsing in MuJoCo plugin#1003
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Set compiler.degree option to false to prevent MuJoCo from interpreting joint limits specified in radians as degrees. Also added a test case asserting the compiled joint limits of joint_limit_test. Generated-by: Gemini 3.5 Flash Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>
iche033
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Jun 11, 2026
azeey
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June 11, 2026 17:51
shameekganguly
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Jun 26, 2026
Set compiler.degree option to false to prevent MuJoCo from interpreting joint limits specified in radians as degrees. Also added a test case asserting the compiled joint limits of joint_limit_test. Generated-by: Gemini 3.5 Flash Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>
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🦟 Bug fix
Summary
Before this PR, joint limits specified in SDFormat (which are in radians) were interpreted by MuJoCo's compiler as degrees. This happened because the default
compiler.degreeoption in MuJoCo's spec istrue. As a result, limits like[-0.5, 0.5]radians were compiled to[-0.0087, 0.0087]radians.This PR sets
worldInfo->mjSpecObj->compiler.degree = false;so that MuJoCo compiles all angles and limits directly as radians.The existing
CheckMujocoDatatest case inSDFFeatures_TEST.cchas been updated to assert that the compiledjnt_rangeforjoint_limit_testcorrectly holds[-0.5, 0.5]instead of the incorrect degree-converted values.Backport Policy
Checklist
codecheckpassed (See contributing)Generated-by: Gemini 3.5 Flash
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-byandGenerated-bymessages.Backports: If this is a backport, please use Rebase and Merge instead.