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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.h
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@@ -1099,6 +1099,7 @@ class mjCActuator : public mjCBase {
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
int actdim; // dimension of associated activations
int plugin_actdim; // actuator state size for plugins
mjtDyn dyntype; // dynamics type
mjtTrn trntype; // transmission type
mjtGain gaintype; // gain type