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
@@ -195,6 +195,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjTRN_SLIDERCRANK', 2),
             ('mjTRN_TENDON', 3),
             ('mjTRN_SITE', 4),
+             ('mjTRN_BODY', 5),
             ('mjTRN_UNDEFINED', 1000),
         ]),
     )),