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Minor improvements to dcmotor

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PiperOrigin-RevId: 895907301
Change-Id: Ia50a6d06c1ede9894cc71f375db837d104f0211e
This commit is contained in:
Yuval Tassa
2026-04-07 08:10:42 -07:00
committed by Copybara-Service
parent b61d304126
commit 382474bb9d
8 changed files with 114 additions and 57 deletions
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src/user/user_api.h
+7
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@@ -192,6 +192,13 @@ MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], do
// Set actuator to adhesion, return error on failure.
MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
// Set actuator to DC motor, return error on failure.
MJAPI const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
double nominal[3], double saturation[4], double inductance[2],
double cogging[3], double controller[5], double thermal[6],
double lugre[6], int input_mode);
//---------------------------------- Add assets ----------------------------------------------------
// Add mesh.