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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.h
+4 -3
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@@ -873,9 +873,10 @@ class mjCActuator : public mjCBase {
public:
// variables set by user or API
int group; // group for visualization
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
int actdim; // dimension of associated activations
mjtDyn dyntype; // dynamics type
mjtTrn trntype; // transmission type
mjtGain gaintype; // gain type