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Add <dcmotor> actuator and related docs and tests.

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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
2026-04-01 07:49:53 -07:00
committed by Copybara-Service
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
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src/user/user_objects.cc
+5 -5
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@@ -7222,20 +7222,20 @@ void mjCActuator::Compile(void) {
// check and set actdim
if (!plugin.active) {
if (actdim > 1 && dyntype != mjDYN_USER) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator");
if (actdim > 1 && dyntype != mjDYN_USER && dyntype != mjDYN_DCMOTOR) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' and 'dcmotor'");
}
if (actdim == 1 && dyntype == mjDYN_NONE) {
throw mjCError(this, "invalid actdim 1 in stateless actuator");
}
if (actdim == 0 && dyntype != mjDYN_NONE) {
if (actdim == 0 && dyntype != mjDYN_NONE && dyntype != mjDYN_DCMOTOR) {
throw mjCError(this, "invalid actdim 0 in stateful actuator");
}
}
// set actdim
// set actdim to 1 if it is unset and type is standard one-activation dyntype
if (actdim < 0) {
actdim = (dyntype != mjDYN_NONE);
actdim = (dyntype != mjDYN_NONE && dyntype != mjDYN_DCMOTOR);
}
// check muscle parameters