chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Runtime disabling of actuators according to group.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjmacro.h
+3
View File
@@ -34,6 +34,9 @@
#define mjDISABLED(x) (m->opt.disableflags & (x))
#define mjENABLED(x) (m->opt.enableflags & (x))
// is actuator disabled
#define mjACTUATORDISABLED(i) (m->opt.disableactuator & (1 << m->actuator_group[i]))
// annotation for functions that accept printf-like variadic arguments
#ifndef mjPRINTFLIKE
#if defined(__GNUC__)