ML Crawler SetJointStrength

Could someone assist me with the SetJointStrength method in Crawler? I'm having trouble figuring out the rawVal formula and where it came from. Could someone please point me in the right direction?

Code (CSharp):

1. public void SetJointStrength(float strength)
2.         {
3.             var rawVal = (strength + 1f) * 0.5f * thisJdController.maxJointForceLimit;
4.             var jd = new JointDrive
5.             {
6.                 positionSpring = thisJdController.maxJointSpring,
7.                 positionDamper = thisJdController.jointDampen,
8.                 maximumForce = rawVal
9.             };
10.             joint.slerpDrive = jd;
11.             currentStrength = jd.maximumForce;
12.         }

 

Interested in this as well

 

It's just a normalization of the action values from the range [-1,1] onto [0,1].
([-1,1] + 1) / 2 ==> [0,1]

It is then multiplied by the Max Joint Force Limit, which is a parameter you can set in the Crawler prefab.
Basically the float number multiplied by it is the amount/percentage of the maximum force. So rawVal gives you the predicted force for this joint.

 

Thanks, everything makes sense now