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Runtime disabling of actuators according to group.

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Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
This commit is contained in:
Yuval Tassa
2023-10-31 16:23:58 -07:00
committed by Copybara-Service
parent 45878b7eef
commit 893c404230
25 changed files with 525 additions and 125 deletions
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doc/XMLschema.rst
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@@ -230,7 +230,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | | | |
| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| option |br| |_| |L| | | .. table:: |