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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/changelog.rst
+7
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@@ -12,6 +12,13 @@ General
for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
robust for very small or large geom sizes.
Plugins
^^^^^^^
- Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
Bug fixes
^^^^^^^^^
- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.