Add timeconst attribute to position actuator.

PiperOrigin-RevId: 635018979 Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
2024-05-18 03:37:10 -07:00
parent 875823ba96
commit 727893f0f2
6 changed files with 127 additions and 18 deletions
@@ -5125,7 +5125,7 @@ void mjCActuator::Compile(void) {
      gainprm[0] == -biasprm[1] && inheritrange > 0) {
    // semantic of actuator is the same as transmission, inheritrange is applicable
    double* range;
-    if (dyntype == mjDYN_NONE) {
+    if (dyntype == mjDYN_NONE || dyntype == mjDYN_FILTEREXACT) {
      // position actuator
      range = ctrlrange;
    } else if (dyntype == mjDYN_INTEGRATOR) {