Add <dcmotor> actuator and related docs and tests.

PiperOrigin-RevId: 892927987 Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
2026-04-01 07:49:53 -07:00
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
@@ -1726,6 +1726,12 @@ MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], do
 // Set actuator to active adhesion; return error if any.
 MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);

+// Set actuator to DC motor; return error if any.
+MJAPI const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
+                                   double nominal[3], double saturation[4], double inductance[2],
+                                   double cogging[3], double controller[5], double thermal[6],
+                                   double lugre[6], int input_mode);
+

 //---------------------------------- Assets --------------------------------------------------------