From adbbcc4ff52674634a0afc13683ca9d9ffdefb98 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Mon, 27 May 2024 11:48:11 +0100
Subject: [PATCH 1/3] Track separate kv property for position actuators

---
 unity/Editor/Components/MjActuatorEditor.cs | 3 +++
 unity/Runtime/Components/MjActuator.cs      | 7 ++++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/unity/Editor/Components/MjActuatorEditor.cs b/unity/Editor/Components/MjActuatorEditor.cs
index 9ac963cc..10fc7de8 100644
--- a/unity/Editor/Components/MjActuatorEditor.cs
+++ b/unity/Editor/Components/MjActuatorEditor.cs
@@ -35,6 +35,7 @@ namespace Mujoco {
     private SerializedProperty _biasPrm;
     // Position actuator properties.
     private SerializedProperty _kp;
+    private SerializedProperty _kvp;
     // Velocity actuator properties.
     private SerializedProperty _kv;
     // Cylinder actuator properties.
@@ -70,6 +71,7 @@ namespace Mujoco {
       _biasPrm = customParams.FindPropertyRelative("BiasPrm");
       // Position actuator properties.
       _kp = customParams.FindPropertyRelative("Kp");
+      _kvp = customParams.FindPropertyRelative("Kvp");
       // Velocity actuator properties.
       _kv = customParams.FindPropertyRelative("Kv");
       // Cylinder actuator properties.
@@ -166,6 +168,7 @@ namespace Mujoco {
 
     private void EditPositionParams(MjActuator.CustomParameters parameters) {
       EditorGUILayout.PropertyField(_kp);
+      EditorGUILayout.PropertyField(_kvp, new GUIContent("Kv"));
     }
 
     private void EditVelocityParams(MjActuator.CustomParameters parameters) {
diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
index e44b8579..da643c15 100644
--- a/unity/Runtime/Components/MjActuator.cs
+++ b/unity/Runtime/Components/MjActuator.cs
@@ -164,11 +164,16 @@ public class MjActuator : MjComponent {
     [AbsoluteValue]
     public float Kp = 1.0f;
 
-    public void PositionToMjcf(XmlElement mjcf) {
+    [AbsoluteValue]
+    public float Kvp;
+
+      public void PositionToMjcf(XmlElement mjcf) {
       mjcf.SetAttribute("kp", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kp)}"));
+      mjcf.SetAttribute("kv", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kvp)}"));
     }
     public void PositionFromMjcf(XmlElement mjcf) {
       Kp = mjcf.GetFloatAttribute("kp", defaultValue: 1.0f);
+      Kvp = mjcf.GetFloatAttribute("kv", defaultValue: 0f);
     }
 
     //// Velocity actuator parameters.

From 2aa30b188cc8fa27a045d551f934550a4af36bab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Mon, 27 May 2024 11:49:26 +0100
Subject: [PATCH 2/3] Adjust formatting

---
 unity/Runtime/Components/MjActuator.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
index da643c15..1c5ff755 100644
--- a/unity/Runtime/Components/MjActuator.cs
+++ b/unity/Runtime/Components/MjActuator.cs
@@ -167,7 +167,7 @@ public class MjActuator : MjComponent {
     [AbsoluteValue]
     public float Kvp;
 
-      public void PositionToMjcf(XmlElement mjcf) {
+    public void PositionToMjcf(XmlElement mjcf) {
       mjcf.SetAttribute("kp", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kp)}"));
       mjcf.SetAttribute("kv", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kvp)}"));
     }

From 45ccc2a6dffee54714919bf80ebfff5edf05b70c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Mon, 27 May 2024 12:11:15 +0100
Subject: [PATCH 3/3] Add tests for kv param in position actuators

---
 unity/Tests/Editor/Components/MjActuatorTests.cs | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/unity/Tests/Editor/Components/MjActuatorTests.cs b/unity/Tests/Editor/Components/MjActuatorTests.cs
index 175a59f4..437674b1 100644
--- a/unity/Tests/Editor/Components/MjActuatorTests.cs
+++ b/unity/Tests/Editor/Components/MjActuatorTests.cs
@@ -279,19 +279,22 @@ public class MjPositionActuatorTests {
     Assert.That(_doc.OuterXml, Does.Contain($"<position"));
   }
 
-  [TestCase(3, "3")]
-  [TestCase(-2, "2")]
-  public void BiasParamsMjcf(float value, string expected) {
-    _actuator.CustomParams.Kp = value;
+  [TestCase(3, 2, "3", "2")]
+  [TestCase(-2, -1, "2", "1")]
+  public void BiasParamsMjcf(float valueP, float valueV, string expectedP, string expectedV) {
+    _actuator.CustomParams.Kp = valueP;
+    _actuator.CustomParams.Kvp = valueV;
     _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"kp=\"{expected}\""));
+    Assert.That(_doc.OuterXml, Does.Contain($"kp=\"{expectedP}\""));
+    Assert.That(_doc.OuterXml, Does.Contain($"kv=\"{expectedV}\""));
   }
 
   [Test]
   public void ParseAllSettings() {
-    _doc.LoadXml("<position joint=\"my_joint\" kp=\"2\"/>");
+    _doc.LoadXml("<position joint=\"my_joint\" kp=\"2\" kv=\"1\"/>");
     _actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement);
     Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(2));
+    Assert.That(_actuator.CustomParams.Kvp, Is.EqualTo(1));
   }
 
   [Test]
@@ -299,6 +302,7 @@ public class MjPositionActuatorTests {
     _doc.LoadXml("<position joint=\"my_joint\"/>");
     _actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement);
     Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(1));
+    Assert.That(_actuator.CustomParams.Kvp, Is.EqualTo(0));
   }
 }