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
@@ -4968,6 +4968,7 @@ public unsafe struct mjOption_ {
  public int mpr_iterations;
  public int disableflags;
  public int enableflags;
+  public int disableactuator;
  public int sdf_initpoints;
  public int sdf_iterations;
 }