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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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test/engine/CMakeLists.txt
+3
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@@ -30,6 +30,9 @@ target_link_libraries(engine_derivative_test fixture gmock)
mujoco_test(engine_forward_test)
target_link_libraries(engine_forward_test fixture gmock)
mujoco_test(engine_inverse_test)
target_link_libraries(engine_inverse_test fixture gmock)
mujoco_test(engine_island_test)
target_link_libraries(engine_island_test fixture gmock)