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
@@ -269,19 +269,22 @@ public enum mjtDyn : int{
  mjDYN_FILTER = 2,
  mjDYN_FILTEREXACT = 3,
  mjDYN_MUSCLE = 4,
-  mjDYN_USER = 5,
+  mjDYN_DCMOTOR = 5,
+  mjDYN_USER = 6,
 }
 public enum mjtGain : int{
  mjGAIN_FIXED = 0,
  mjGAIN_AFFINE = 1,
  mjGAIN_MUSCLE = 2,
-  mjGAIN_USER = 3,
+  mjGAIN_DCMOTOR = 3,
+  mjGAIN_USER = 4,
 }
 public enum mjtBias : int{
  mjBIAS_NONE = 0,
  mjBIAS_AFFINE = 1,
  mjBIAS_MUSCLE = 2,
-  mjBIAS_USER = 3,
+  mjBIAS_DCMOTOR = 3,
+  mjBIAS_USER = 4,
 }
 public enum mjtObj : int{
  mjOBJ_UNKNOWN = 0,