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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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src/xml/xml_native_reader.cc
+3 -2
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@@ -103,10 +103,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"solver", "iterations", "noslip_iterations", "mpr_iterations",
"sdf_iterations", "sdf_initpoints"},
{"<"},
{"flag", "?", "21", "constraint", "equality", "frictionloss", "limit", "contact",
{"flag", "?", "22", "constraint", "equality", "frictionloss", "limit", "contact",
"passive", "gravity", "clampctrl", "warmstart",
"filterparent", "actuation", "refsafe", "sensor", "midphase", "eulerdamp",
"override", "energy", "fwdinv", "sensornoise", "multiccd", "island"},
"override", "energy", "fwdinv", "invdiscrete", "sensornoise", "multiccd", "island"},
{">"},
{"size", "*", "14", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey",
@@ -1014,6 +1014,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
READENBL("override", mjENBL_OVERRIDE)
READENBL("energy", mjENBL_ENERGY)
READENBL("fwdinv", mjENBL_FWDINV)
READENBL("invdiscrete", mjENBL_INVDISCRETE)
READENBL("sensornoise", mjENBL_SENSORNOISE)
READENBL("multiccd", mjENBL_MULTICCD)
READENBL("island", mjENBL_ISLAND)