Description
The MJCF actuator importer recognizes position, velocity, motor, and general, but silently skips MuJoCo's intvelocity shortcut. This removes the actuator activation state and changes the control model.
Expected behavior
Expand intvelocity using MuJoCo semantics: integrator dynamics, fixed gain kp, affine bias [0, -kp, -kv], a one-dimensional activation state, and its authored or inherited activation range. Keep it on the direct-control path and reconstruct it with MjsActuator.set_to_intvelocity().
Validation
Compare compiled actuator fields, activation evolution, actuator force, and joint motion against native MuJoCo over several steps. Include a default-class fixture so shortcut defaults and inheritance are covered.
Description
The MJCF actuator importer recognizes
position,velocity,motor, andgeneral, but silently skips MuJoCo'sintvelocityshortcut. This removes the actuator activation state and changes the control model.Expected behavior
Expand
intvelocityusing MuJoCo semantics: integrator dynamics, fixed gainkp, affine bias[0, -kp, -kv], a one-dimensional activation state, and its authored or inherited activation range. Keep it on the direct-control path and reconstruct it withMjsActuator.set_to_intvelocity().Validation
Compare compiled actuator fields, activation evolution, actuator force, and joint motion against native MuJoCo over several steps. Include a default-class fixture so shortcut defaults and inheritance are covered.