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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/xml/xml_native_reader.cc
+5 -4
View File
@@ -159,8 +159,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "rgba", "user"},
{"general", "?", "16", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
"forcerange", "actrange", "gear", "cranklength", "user", "group",
{"general", "?", "17", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
"forcerange", "actrange", "gear", "cranklength", "user", "group", "actdim",
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"},
@@ -323,11 +323,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"actuator", "*", "0"},
{"<"},
{"general", "*", "27", "name", "class", "group",
{"general", "*", "28", "name", "class", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"body", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
"body", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm"},
{"motor", "*", "18", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
@@ -1683,6 +1683,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
ReadAttr(elem, "dynprm", mjNDYN, pact->dynprm, text, false, false);
ReadAttr(elem, "gainprm", mjNGAIN, pact->gainprm, text, false, false);
ReadAttr(elem, "biasprm", mjNBIAS, pact->biasprm, text, false, false);
ReadAttrInt(elem, "actdim", &pact->actdim);
}
// direct drive motor
src/xml/xml_native_writer.cc
+1
View File
@@ -640,6 +640,7 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// non-plugins: write actuator parameters
else {
WriteAttrInt(elem, "actdim", pact->actdim, def->actuator.actdim);
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->actuator.gaintype);
WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->actuator.biastype);