Runtime disabling of actuators according to group.

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
2023-10-31 16:23:58 -07:00
parent 45878b7eef
commit 893c404230
25 changed files with 525 additions and 125 deletions
@@ -732,6 +732,7 @@ struct mjOption_ {                // physics options
  int mpr_iterations;             // maximum number of MPR solver iterations
  int disableflags;               // bit flags for disabling standard features
  int enableflags;                // bit flags for enabling optional features
+  int disableactuator;            // bit flags for disabling actuators by group id

  // sdf collision settings
  int sdf_initpoints;             // number of starting points for gradient descent