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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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src/user/user_model.cc
+4 -2
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@@ -929,7 +929,7 @@ void mjCModel::SetSizes(void) {
nu++;
} else {
nu++;
na++;
na += actuators[i]->actdim;
}
}
@@ -1834,7 +1834,9 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_biastype[i] = pac->biastype;
m->actuator_trnid[2*i] = pac->trnid[0];
m->actuator_trnid[2*i+1] = pac->trnid[1];
m->actuator_actadr[i] = pac->dyntype == mjDYN_NONE ? -1 : adr++;
m->actuator_actadr[i] = pac->dyntype == mjDYN_NONE ? -1 : adr;
adr += pac->actdim;
m->actuator_actnum[i] = pac->actdim;
m->actuator_group[i] = pac->group;
m->actuator_ctrllimited[i] = pac->ctrllimited;
m->actuator_forcelimited[i] = pac->forcelimited;