Fix inherit range pulling from act early attribute when parsing USD to MjSpec.

havess · copybara-github · commit b99d9e8f1245 · 2025-07-16T06:35:10.000-07:00
PiperOrigin-RevId: 783735573
Change-Id: I988f16cd16e47caa84a30009c36a932ec3672429
diff --git 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();

Original file line number	Diff line number	Diff line change
`@@ -950,8 +950,8 @@ void ParseMjcPhysicsActuator(mjSpec* spec,`
`950`	`950`	`}`
`951`	`951`
`952`	`952`	`auto inherit_range_attr = tran.GetMjcInheritRangeAttr();`
`953`		`- if (act_early_attr.HasAuthoredValue()) {`
`954`		`- act_early_attr.Get(&mj_act->inheritrange);`
	`953`	`+ if (inherit_range_attr.HasAuthoredValue()) {`
	`954`	`+ inherit_range_attr.Get(&mj_act->inheritrange);`
`955`	`955`	`}`
`956`	`956`
`957`	`957`	`auto ref_site_rel = tran.GetMjcRefSiteRel();`