Add inheritrange attribute to position and intvelocity actuators.

PiperOrigin-RevId: 607650147 Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:41:49 -08:00
parent 5e353efaaf
commit 05150546e3
11 changed files with 318 additions and 113 deletions
@@ -559,6 +559,7 @@ typedef struct _mjmActuator {      // actuator specification
  mjString slidersite;             // site defining cylinder, for slider-crank
  double cranklength;              // crank length, for slider-crank
  double lengthrange[2];           // transmission length range
+  double inheritrange;             // automatic range setting for position and intvelocity

  // input/output clamping
  int ctrllimited;                 // are control limits defined (mjtLimited)