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Implement plugin mechanism for actuators and sensors.

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PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
This commit is contained in:
Saran Tunyasuvunakool
2022-09-16 12:20:56 -07:00
committed by Copybara-Service
parent f556d4d94f
commit 1e2a9a53bc
29 changed files with 2121 additions and 51 deletions
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src/engine/engine_io.h
+4 -3
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@@ -52,9 +52,10 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata,
int ntuple, int ntupledata, int nkey, int nmocap,
int nuser_body, int nuser_jnt, int nuser_geom, int nuser_site, int nuser_cam,
int nuser_tendon, int nuser_actuator, int nuser_sensor, int nnames);
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);