Fix "actrange" parsing for "intvelocity" actuators.

PiperOrigin-RevId: 468759706
Change-Id: I1d9eeb723d28cccb64a6112b103345fcf451700f

doc/changelog.rst

@@ -12,7 +12,7 @@ General
     :align: right
     :height: 150px
 
-- Added :ref:`adhesion actuators<adhesion>` mimicking vaccum grippers and adhesive biomechanical appendages.
+- Added :ref:`adhesion actuators<adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages.
 - Added related `example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video:
 - Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
 - Added moment of inertia computation for concave meshes. This is currently activated by setting the compiler flag
@@ -48,6 +48,7 @@ Deleted/deprecated features
 Bug fixes
 ^^^^^^^^^
 - Fixed rendering of some transparent geoms in reflection.
+- Fixed ``intvelocity`` defaults parsing.
 
 Version 2.2.1 (July 18, 2022)
 -----------------------------

src/xml/xml_native_reader.cc

@@ -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

test/xml/xml_native_reader_test.cc

@@ -648,7 +648,41 @@ TEST_F(IntegratedVelocityTest, NoActrangeThrowsError) {
   std::array<char, 1024> error;
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("actrange is required for an intvelocity actuator"));
+  EXPECT_THAT(error.data(), HasSubstr("invalid activation range for actuator"));
+}
+
+TEST_F(IntegratedVelocityTest, DefaultsPropagate) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <default>
+      <intvelocity kp="5"/>
+      <default class="withactrange">
+        <intvelocity kp="1" actrange="-1 1"/>
+      </default>
+    </default>
+    <worldbody>
+      <body>
+        <joint name="hinge1"/>
+        <joint name="hinge2"/>
+        <geom type="box" size=".025 .025 .025"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <intvelocity joint="hinge1" actrange="0 1"/>
+      <intvelocity joint="hinge2" class="withactrange"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, testing::NotNull());
+  EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 5);
+  EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 1);
+  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], 0);
+  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 1], 1);
+  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 2], -1);
+  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 3], 1);
+  mj_deleteModel(model);
 }
 
 }  // namespace