Add adhesion actuators.

- Adhesion actuators using contact normals as force transmission mechanism. - Related video: https://youtu.be/HdBue4MUZys Closes #229 PiperOrigin-RevId: 464389367 Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
2022-07-31 08:53:29 -07:00
parent 5c5449bf82
commit 3d77eb1ef4
17 changed files with 475 additions and 63 deletions
@@ -183,6 +183,7 @@ typedef enum mjtTrn_ {            // type of actuator transmission
  mjTRN_SLIDERCRANK,              // force via slider-crank linkage
  mjTRN_TENDON,                   // force on tendon
  mjTRN_SITE,                     // force on site
+  mjTRN_BODY,                     // adhesion force on a body's geoms

  mjTRN_UNDEFINED     = 1000      // undefined transmission type
 } mjtTrn;