Implement plugin mechanism for actuators and sensors.

PiperOrigin-RevId: 474874088 Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
2022-09-16 12:20:56 -07:00
parent f556d4d94f
commit 1e2a9a53bc
29 changed files with 2121 additions and 51 deletions
@@ -263,6 +263,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjOBJ_TEXT', 21),
             ('mjOBJ_TUPLE', 22),
             ('mjOBJ_KEY', 23),
+             ('mjOBJ_PLUGIN', 24),
         ]),
     )),
    ('mjtConstraint',
@@ -333,7 +334,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjSENS_SUBTREELINVEL', 33),
             ('mjSENS_SUBTREEANGMOM', 34),
             ('mjSENS_CLOCK', 35),
-             ('mjSENS_USER', 36),
+             ('mjSENS_PLUGIN', 36),
+             ('mjSENS_USER', 37),
         ]),
     )),
    ('mjtStage',
@@ -406,6 +408,15 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjNTIMER', 13),
         ]),
     )),
+    ('mjtPluginTypeBit',
+     EnumDecl(
+         name='mjtPluginTypeBit',
+         declname='enum mjtPluginTypeBit_',
+         values=dict([
+             ('mjPLUGIN_ACTUATOR', 1),
+             ('mjPLUGIN_SENSOR', 2),
+         ]),
+     )),
    ('mjtGridPos',
     EnumDecl(
         name='mjtGridPos',