Fix "actrange" parsing for "intvelocity" actuators.

PiperOrigin-RevId: 468759706 Change-Id: I1d9eeb723d28cccb64a6112b103345fcf451700f
2022-08-19 12:22:13 -07:00
parent ee6fed1230
commit 0b2f19bbe7
3 changed files with 37 additions and 6 deletions
@@ -1509,10 +1509,6 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
    pact->biastype = mjBIAS_AFFINE;
    pact->actlimited = 1;
    pact->biasprm[1] = -pact->gainprm[0];
-    // require actrange
-    if (!ReadAttr(elem, "actrange", 2, pact->actrange, text)) {
-      throw mjXError(elem, "actrange is required for an intvelocity actuator", type.c_str());
-    }
  }

  // damper