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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/xml/xml_native_writer.cc
+2 -2
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@@ -721,6 +721,8 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
WriteAttr(elem, "cranklength", 1, &pact->cranklength, &def->actuator.cranklength);
WriteAttrKey(elem, "actearly", bool_map, 2, pact->actearly,
def->actuator.actearly);
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm);
// plugins: write config attributes
if (pact->is_plugin) {
@@ -736,10 +738,8 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1;
WriteAttrInt(elem, "actdim", pact->actdim, default_actdim);
}
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->actuator.gaintype);
WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->actuator.biastype);
WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm);
WriteAttr(elem, "gainprm", mjNGAIN, pact->gainprm, def->actuator.gainprm);
WriteAttr(elem, "biasprm", mjNBIAS, pact->biasprm, def->actuator.biasprm);
}