Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.

PiperOrigin-RevId: 620049593 Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:00:55 -07:00
parent d258d5e152
commit 47ba72ea59
16 changed files with 257 additions and 79 deletions
@@ -215,6 +215,7 @@
    XMJV( int,     jnt_group,             njnt,          1                    ) \
    X   ( mjtByte, jnt_limited,           njnt,          1                    ) \
    X   ( mjtByte, jnt_actfrclimited,     njnt,          1                    ) \
+    X   ( mjtByte, jnt_actgravcomp,       njnt,          1                    ) \
    X   ( mjtNum,  jnt_solref,            njnt,          mjNREF               ) \
    X   ( mjtNum,  jnt_solimp,            njnt,          mjNIMP               ) \
    X   ( mjtNum,  jnt_pos,               njnt,          3                    ) \