From b99d9e8f12454dbfa71850c1472c0260e23566b2 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 16 Jul 2025 06:34:16 -0700
Subject: [PATCH] Fix inherit range pulling from act early attribute when
 parsing USD to MjSpec.

PiperOrigin-RevId: 783735573
Change-Id: I988f16cd16e47caa84a30009c36a932ec3672429
---
 src/experimental/usd/usd_to_mjspec.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/experimental/usd/usd_to_mjspec.cc b/src/experimental/usd/usd_to_mjspec.cc
index f44bb84e..c2144c71 100644
--- a/src/experimental/usd/usd_to_mjspec.cc
+++ b/src/experimental/usd/usd_to_mjspec.cc
@@ -950,8 +950,8 @@ void ParseMjcPhysicsActuator(mjSpec* spec,
   }
 
   auto inherit_range_attr = tran.GetMjcInheritRangeAttr();
-  if (act_early_attr.HasAuthoredValue()) {
-    act_early_attr.Get(&mj_act->inheritrange);
+  if (inherit_range_attr.HasAuthoredValue()) {
+    inherit_range_attr.Get(&mj_act->inheritrange);
   }
 
   auto ref_site_rel = tran.GetMjcRefSiteRel();