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Allow more than 1 activation state per actuator, but only for dyntype user.

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Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
This commit is contained in:
Yuval Tassa
2022-11-07 01:42:18 -08:00
committed by Copybara-Service
parent 0514010928
commit 36b30e4500
20 changed files with 271 additions and 37 deletions
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doc/XMLschema.rst
+7 -5
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@@ -340,11 +340,11 @@
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`dyntype` | :at:`gaintype` | |
| | | | :at:`group` | :at:`actdim` | :at:`dyntype` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`biastype` | :at:`dynprm` | :at:`gainprm` | |
| | | | :at:`gaintype` | :at:`biastype` | :at:`dynprm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`biasprm` | | | |
| | | | :at:`gainprm` | :at:`biasprm` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`motor | ? | .. table:: |
@@ -979,9 +979,11 @@
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`site` | :at:`refsite` | :at:`body` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`dyntype` | :at:`gaintype` | :at:`biastype` | |
| | | | :at:`actdim` | :at:`dyntype` | :at:`gaintype` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`dynprm` | :at:`gainprm` | :at:`biasprm` | |
| | | | :at:`biastype` | :at:`dynprm` | :at:`gainprm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`biasprm` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`motor | \* | .. table:: |