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
@@ -5218,6 +5218,7 @@ public unsafe struct mjModel_ {
  public int* jnt_group;
  public byte* jnt_limited;
  public byte* jnt_actfrclimited;
+  public byte* jnt_actgravcomp;
  public double* jnt_solref;
  public double* jnt_solimp;
  public double* jnt_pos;