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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_writer.cc
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@@ -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);