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Interpret position and intvelocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle. The force uses the setpoint representative nearest the current length for smooth tracking beyond pi.

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- Wrapping in force path is local; act is re-anchored at integration time.
- Remove hardcoded `actrange` for intvelocity actuators.

PiperOrigin-RevId: 949566477
Change-Id: I349fdf17eedfbb2174d698cc1a6a91d52810b4a3
This commit is contained in:
Yuval Tassa
2026-07-17 07:48:46 -07:00
committed by Copybara-Service
parent 9331c1cd9b
commit 56a93979e0
9 changed files with 301 additions and 39 deletions
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src/user/user_api.cc
-1
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@@ -1313,7 +1313,6 @@ const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange) {
mjs_setToPosition(actuator, kp, kv, dampratio, timeconst, inheritrange);
actuator->dyntype = mjDYN_INTEGRATOR;
actuator->actlimited = mjLIMITED_TRUE;
if (inheritrange > 0) {
if (actuator->actrange[0] || actuator->actrange[1]) {