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fix(mjcf): sync joint ranges and motor ctrlrange with the urdf - #5
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The three MJCF files had 15 joint ranges that differed from urdf/rpo.urdf, and every motor used ctrlrange -200 200 instead of the URDF effort (120 or 27). Training uses the URDF, so set the MJCF ranges and ctrlranges to match it. Add scripts/check_limits.py, a standard library check that compares the URDF and MJCF limits and exits nonzero on drift. Signed-off-by: Dundy Pasupuleti <dundysm@gmail.com>
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syncs the mjcf limits with
urdf/rpo.urdf, as discussed in #4.what changed:
mjcf/rpo.xml,rpo_stairs.xml,rpo_terrain.xml: the 15 joint ranges that differed now match the urdf, and each motor's ctrlrange equals the urdf effort (120 for hips, knees and torso, 27 for ankles and arms) instead of -200 200. nothing else in the files is touched.scripts/check_limits.py: standard library only. it compares every urdf revolute joint against each mjcf range and ctrlrange and exits 1 on drift. run it withpython3 scripts/check_limits.py.verified on cpu:
the 3 open spots from #4 follow the urdf because that's what training uses. i'm happy to switch any of them if deploy or the cad is the real truth:
@Luo1imasi @Alexhuge1 could you take a look?
Closes #4
中文摘要：将 3 个 mjcf 文件的关节限位和电机 ctrlrange 与 urdf 同步，并新增仅依赖标准库的一致性检查脚本。