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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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src/user/user_objects.cc
+1
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@@ -3775,6 +3775,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
forcelimited = 2;
actlimited = 2;
actdim = -1;
plugin_actdim = 0;
trntype = mjTRN_UNDEFINED;
dyntype = mjDYN_NONE;
gaintype = mjGAIN_FIXED;