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
@@ -263,7 +263,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjDYN_FILTER', 2),
             ('mjDYN_FILTEREXACT', 3),
             ('mjDYN_MUSCLE', 4),
-             ('mjDYN_USER', 5),
+             ('mjDYN_DCMOTOR', 5),
+             ('mjDYN_USER', 6),
         ]),
     )),
    ('mjtGain',
@@ -274,7 +275,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjGAIN_FIXED', 0),
             ('mjGAIN_AFFINE', 1),
             ('mjGAIN_MUSCLE', 2),
-             ('mjGAIN_USER', 3),
+             ('mjGAIN_DCMOTOR', 3),
+             ('mjGAIN_USER', 4),
         ]),
     )),
    ('mjtBias',
@@ -285,7 +287,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjBIAS_NONE', 0),
             ('mjBIAS_AFFINE', 1),
             ('mjBIAS_MUSCLE', 2),
-             ('mjBIAS_USER', 3),
+             ('mjBIAS_DCMOTOR', 3),
+             ('mjBIAS_USER', 4),
         ]),
     )),
    ('mjtObj',