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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_objects.cc
+18
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@@ -3390,6 +3390,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
ctrllimited = 2;
forcelimited = 2;
actlimited = 2;
actdim = -1;
trntype = mjTRN_UNDEFINED;
dyntype = mjDYN_NONE;
gaintype = mjGAIN_FIXED;
@@ -3474,6 +3475,23 @@ void mjCActuator::Compile(void) {
name.c_str(), id);
}
// check and set actdim
if (actdim > 1 && dyntype != mjDYN_USER) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator '%s' (id = %d)",
name.c_str(), id);
}
if (actdim == 1 && dyntype == mjDYN_NONE) {
throw mjCError(this, "invalid actdim 1 in stateless actuator '%s' (id = %d)", name.c_str(), id);
}
if (actdim == 0 && dyntype != mjDYN_NONE) {
throw mjCError(this, "invalid actdim 0 in stateful actuator '%s' (id = %d)", name.c_str(), id);
}
// set actdim
if (actdim < 0) {
actdim = (dyntype != mjDYN_NONE);
}
// check muscle parameters
for (int i=0; i<2; i++) {
// select gain or bias