Add JOINTINPARENT actuator transmission type to MJX.

PiperOrigin-RevId: 686083761 Change-Id: I5159d050812d32e15ced06df132d3e434fced814
2024-10-15 06:37:00 -07:00
parent 5a95d601ed
commit 096853e192
7 changed files with 26 additions and 10 deletions
@@ -99,7 +99,7 @@

    <!-- falling pendulum -->
    <body pos="4.0 0 0">
-      <freejoint/>
+      <freejoint name="freejoint"/>
      <geom/>
      <body pos="0 0 -0.8">
        <joint name="joint13" axis="0.4 0.5 0.6" type="slide" armature="0.02" range="-0.4 0.6"/>
@@ -154,5 +154,7 @@
    <motor gear="150" joint="joint16" name="act7"/>
    <motor gear="150" joint="joint17" name="act8"/>
    <position tendon="tendon_2" kp="100"/>
+    <motor gear="2 3 4" jointinparent="joint1"/>
+    <motor gear="5 6 7 8 9 10" jointinparent="freejoint"/>
  </actuator>
 </mujoco>