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Allow plugin actuators to have activation state.

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Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
This commit is contained in:
Nimrod Gileadi
2023-11-23 05:13:16 -08:00
committed by Copybara-Service
parent 20eeb75086
commit f2025c6abf
13 changed files with 229 additions and 43 deletions
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doc/XMLschema.rst
+6 -4
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@@ -879,13 +879,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-plugin-name>` | :ref:`class<actuator-plugin-class>` | :ref:`plugin<actuator-plugin-plugin>` | :ref:`instance<actuator-plugin-instance>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<actuator-plugin-group>` | :ref:`ctrllimited<actuator-plugin-ctrllimited>` | :ref:`forcelimited<actuator-plugin-forcelimited>` | :ref:`ctrlrange<actuator-plugin-ctrlrange>` | |
| | | | :ref:`group<actuator-plugin-group>` | :ref:`ctrllimited<actuator-plugin-ctrllimited>` | :ref:`forcelimited<actuator-plugin-forcelimited>` | :ref:`actlimited<actuator-plugin-actlimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcerange<actuator-plugin-forcerange>` | :ref:`lengthrange<actuator-plugin-lengthrange>` | :ref:`gear<actuator-plugin-gear>` | :ref:`cranklength<actuator-plugin-cranklength>` | |
| | | | :ref:`ctrlrange<actuator-plugin-ctrlrange>` | :ref:`forcerange<actuator-plugin-forcerange>` | :ref:`actrange<actuator-plugin-actrange>` | :ref:`lengthrange<actuator-plugin-lengthrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`joint<actuator-plugin-joint>` | :ref:`jointinparent<actuator-plugin-jointinparent>` | :ref:`site<actuator-plugin-site>` | :ref:`tendon<actuator-plugin-tendon>` | |
| | | | :ref:`gear<actuator-plugin-gear>` | :ref:`cranklength<actuator-plugin-cranklength>` | :ref:`joint<actuator-plugin-joint>` | :ref:`jointinparent<actuator-plugin-jointinparent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | :ref:`user<actuator-plugin-user>` | | |
| | | | :ref:`site<actuator-plugin-site>` | :ref:`dyntype<actuator-plugin-dyntype>` | :ref:`dynprm<actuator-plugin-dynprm>` | :ref:`tendon<actuator-plugin-tendon>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | :ref:`user<actuator-plugin-user>` | :ref:`actearly<actuator-plugin-actearly>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |