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Add inheritrange attribute to position and intvelocity actuators.

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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
This commit is contained in:
Yuval Tassa
2024-02-16 04:41:49 -08:00
committed by Copybara-Service
parent 5e353efaaf
commit 05150546e3
11 changed files with 318 additions and 113 deletions
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doc/XMLschema.rst
+15 -13
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@@ -774,13 +774,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-position-name>` | :ref:`class<actuator-position-class>` | :ref:`group<actuator-position-group>` | :ref:`ctrllimited<actuator-position-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-position-forcelimited>` | :ref:`ctrlrange<actuator-position-ctrlrange>` | :ref:`forcerange<actuator-position-forcerange>` | :ref:`lengthrange<actuator-position-lengthrange>` | |
| | | | :ref:`forcelimited<actuator-position-forcelimited>` | :ref:`ctrlrange<actuator-position-ctrlrange>` | :ref:`inheritrange<actuator-position-inheritrange>` | :ref:`forcerange<actuator-position-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-position-gear>` | :ref:`cranklength<actuator-position-cranklength>` | :ref:`user<actuator-position-user>` | :ref:`joint<actuator-position-joint>` | |
| | | | :ref:`lengthrange<actuator-position-lengthrange>` | :ref:`gear<actuator-position-gear>` | :ref:`cranklength<actuator-position-cranklength>` | :ref:`user<actuator-position-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | :ref:`cranksite<actuator-position-cranksite>` | |
| | | | :ref:`joint<actuator-position-joint>` | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | :ref:`kv<actuator-position-kv>` | |
| | | | :ref:`cranksite<actuator-position-cranksite>` | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<actuator-position-kv>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
@@ -806,13 +808,13 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-intvelocity-forcelimited>` | :ref:`ctrlrange<actuator-intvelocity-ctrlrange>` | :ref:`forcerange<actuator-intvelocity-forcerange>` | :ref:`actrange<actuator-intvelocity-actrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`lengthrange<actuator-intvelocity-lengthrange>` | :ref:`gear<actuator-intvelocity-gear>` | :ref:`cranklength<actuator-intvelocity-cranklength>` | :ref:`user<actuator-intvelocity-user>` | |
| | | | :ref:`inheritrange<actuator-intvelocity-inheritrange>` | :ref:`lengthrange<actuator-intvelocity-lengthrange>` | :ref:`gear<actuator-intvelocity-gear>` | :ref:`cranklength<actuator-intvelocity-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`joint<actuator-intvelocity-joint>` | :ref:`jointinparent<actuator-intvelocity-jointinparent>` | :ref:`tendon<actuator-intvelocity-tendon>` | :ref:`slidersite<actuator-intvelocity-slidersite>` | |
| | | | :ref:`user<actuator-intvelocity-user>` | :ref:`joint<actuator-intvelocity-joint>` | :ref:`jointinparent<actuator-intvelocity-jointinparent>` | :ref:`tendon<actuator-intvelocity-tendon>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | :ref:`kp<actuator-intvelocity-kp>` | |
| | | | :ref:`slidersite<actuator-intvelocity-slidersite>` | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<actuator-intvelocity-kv>` | | | | |
| | | | :ref:`kp<actuator-intvelocity-kp>` | :ref:`kv<actuator-intvelocity-kv>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
@@ -1440,11 +1442,11 @@
| :ref:`position | ? | :class: mjcf-attributes |
| <default-position>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`forcerange<default-position-forcerange>` | |
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`inheritrange<default-position-inheritrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | :ref:`group<default-position-group>` | |
| | | | :ref:`forcerange<default-position-forcerange>` | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | | |
| | | | :ref:`group<default-position-group>` | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
@@ -1464,9 +1466,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-intvelocity-ctrllimited>` | :ref:`forcelimited<default-intvelocity-forcelimited>` | :ref:`ctrlrange<default-intvelocity-ctrlrange>` | :ref:`forcerange<default-intvelocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | |
| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`inheritrange<default-intvelocity-inheritrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | | |
| | | | :ref:`user<default-intvelocity-user>` | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |