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Add per-body gravity compensation (buoyancy) passive force.

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PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
This commit is contained in:
Kyle Bayes
2022-11-01 09:47:13 -07:00
committed by Copybara-Service
parent c7960385be
commit 23092a11d7
18 changed files with 233 additions and 10 deletions
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include/mujoco/mjxmacro.h
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@@ -170,6 +170,7 @@
X( mjtNum, body_subtreemass, nbody, 1 ) \
X( mjtNum, body_inertia, nbody, 3 ) \
X( mjtNum, body_invweight0, nbody, 2 ) \
X( mjtNum, body_gravcomp, nbody, 1 ) \
X( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
X( int, body_plugin, nbody, 1 ) \
X( int, jnt_type, njnt, 1 ) \