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

PiperOrigin-RevId: 560161140 Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
2023-08-25 12:07:28 -07:00
parent 4db3377467
commit 819b5cb982
16 changed files with 268 additions and 29 deletions
@@ -53,10 +53,11 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjENBL_OVERRIDE', 1),
             ('mjENBL_ENERGY', 2),
             ('mjENBL_FWDINV', 4),
-             ('mjENBL_SENSORNOISE', 8),
-             ('mjENBL_MULTICCD', 16),
-             ('mjENBL_ISLAND', 32),
-             ('mjNENABLE', 6),
+             ('mjENBL_INVDISCRETE', 8),
+             ('mjENBL_SENSORNOISE', 16),
+             ('mjENBL_MULTICCD', 32),
+             ('mjENBL_ISLAND', 64),
+             ('mjNENABLE', 7),
         ]),
     )),
    ('mjtJoint',