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Add inheritrange attribute to mjcPhysics MjcActuator

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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
This commit is contained in:
Sam Haves
2025-07-15 09:29:28 -07:00
committed by Copybara-Service
parent 5e666635f6
commit cdf5bcb693
9 changed files with 98 additions and 1 deletions
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src/experimental/usd/mjcPhysics/generatedSchema.usda
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@@ -358,6 +358,9 @@ class MjcActuator "MjcActuator" (
displayName = "Group"
doc = "Integer MuJoCo group to which the transmission belongs."
)
uniform double mjc:inheritRange = 0 (
doc = "Automatically set the actuator’s ctrlrange to match the transmission target’s range. The default value means disabled. A positive value X sets the ctrlrange around the midpoint of the target range, scaled by X. For example if the target joint has range of [0, 1], then a value of 1.0 will set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful for not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able to push on them). This attribute is exclusive with ctrlrange and available only for joint and tendon transmissions which have range defined."
)
uniform bool mjc:jointInParent = 0 (
doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame."
)