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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/xml/xml_native_writer.cc
+1 -1
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@@ -871,7 +871,7 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* actuator, mjCDe
if (writingdefaults) {
WriteAttrInt(elem, "actdim", actuator->actdim, def->Actuator().actdim);
} else {
int default_actdim = actuator->dyntype == mjDYN_NONE ? 0 : 1;
int default_actdim = (actuator->dyntype != mjDYN_NONE && actuator->dyntype != mjDYN_DCMOTOR);
WriteAttrInt(elem, "actdim", actuator->actdim, default_actdim);
}
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, actuator->dyntype, def->Actuator().dyntype);