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Add timeconst attribute to position actuator.

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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
This commit is contained in:
Tom Erez
2024-05-18 03:37:10 -07:00
committed by Copybara-Service
parent 875823ba96
commit 727893f0f2
6 changed files with 127 additions and 18 deletions
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src/xml/xml_native_reader.cc
+10 -5
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@@ -177,9 +177,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"},
{"position", "?", "11", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
"forcerange", "gear", "cranklength", "user", "group",
"kp", "kv"},
{"position", "?", "12", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
"forcerange", "gear", "cranklength", "user", "group", "kp", "kv", "timeconst"},
{"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
@@ -390,11 +389,11 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "21", "name", "class", "group",
{"position", "*", "22", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv"},
"kp", "kv", "timeconst"},
{"velocity", "*", "19", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
@@ -2094,6 +2093,12 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* pact) {
pact->biasprm[2] *= -1;
}
if (ReadAttr(elem, "timeconst", 1, pact->dynprm, text)) {
if (pact->dynprm[0] < 0)
throw mjXError(elem, "timeconst cannot be negative");
pact->dyntype = pact->dynprm[0] ? mjDYN_FILTEREXACT : mjDYN_NONE;
}
ReadAttr(elem, "inheritrange", 1, &pact->inheritrange, text);
if (pact->inheritrange > 0) {
if (type == "position") {