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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_writer.cc
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@@ -845,6 +845,7 @@ void mjXWriter::Option(XMLElement* root) {
WRITEENBL("override", mjENBL_OVERRIDE)
WRITEENBL("energy", mjENBL_ENERGY)
WRITEENBL("fwdinv", mjENBL_FWDINV)
WRITEENBL("invdiscrete", mjENBL_INVDISCRETE)
WRITEENBL("sensornoise", mjENBL_SENSORNOISE)
WRITEENBL("multiccd", mjENBL_MULTICCD)
WRITEENBL("island", mjENBL_ISLAND)