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Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.

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PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
This commit is contained in:
Tom Erez
2023-08-25 12:07:28 -07:00
committed by Copybara-Service
parent 4db3377467
commit 819b5cb982
16 changed files with 268 additions and 29 deletions
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doc/XMLschema.rst
+2 -2
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@@ -241,9 +241,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | |
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`sensornoise<option-flag-sensornoise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`island<option-flag-island>` | | | | |
| | | | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |