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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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src/xml/xml_native_writer.cc
+10
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@@ -909,6 +909,16 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttrInt(section, "sdf_iterations", model->option.sdf_iterations, opt.sdf_iterations);
WriteAttrInt(section, "sdf_initpoints", model->option.sdf_initpoints, opt.sdf_initpoints);
// actuator group disable
int disabled_groups[31];
int ndisabled = 0;
for (int i = 0; i < 31; ++i) {
if (model->option.disableactuator & (1 << i)) {
disabled_groups[ndisabled++] = i;
}
}
WriteAttr(section, "actuatorgroupdisable", ndisabled, disabled_groups);
// write disable/enable flags if any of them are set; invert while writing
if (model->option.disableflags || model->option.enableflags) {
XMLElement* sub = InsertEnd(section, "flag");