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Add adhesion actuators.

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- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZys

Closes #229

PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
This commit is contained in:
Yuval Tassa
2022-07-31 08:53:29 -07:00
committed by Copybara-Service
parent 5c5449bf82
commit 3d77eb1ef4
17 changed files with 475 additions and 63 deletions
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python/mujoco/functions.cc
+1 -1
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@@ -65,7 +65,7 @@ PYBIND11_MODULE(_functions, pymodule) {
DEF_WITH_OMITTED_PY_ARGS(traits::mj_printSchema,
"filename", "buffer", "buffer_sz")(
pymodule, [](bool flg_html, bool flg_pad) {
constexpr int kBufferSize = 28000;
constexpr int kBufferSize = 30000;
auto buffer = std::unique_ptr<char[]>(new char[kBufferSize]);
const int out_length = InterceptMjErrors(::mj_printSchema)(
nullptr, buffer.get(), kBufferSize, flg_html, flg_pad);