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Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.

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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
This commit is contained in:
Yuval Tassa
2025-08-29 06:05:18 -07:00
committed by Copybara-Service
parent 0eea5d6dbd
commit b092563cab
39 changed files with 455 additions and 289 deletions
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doc/XMLschema.rst
+5 -5
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@@ -31,15 +31,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
| | | | :ref:`contact<option-flag-contact>` | :ref:`spring<option-flag-spring>` | :ref:`damper<option-flag-damper>` | :ref:`gravity<option-flag-gravity>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
| | | | :ref:`clampctrl<option-flag-clampctrl>` | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`autoreset<option-flag-autoreset>` | |
| | | | :ref:`refsafe<option-flag-refsafe>` | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`nativeccd<option-flag-nativeccd>` | :ref:`island<option-flag-island>` | :ref:`override<option-flag-override>` | :ref:`energy<option-flag-energy>` | |
| | | | :ref:`autoreset<option-flag-autoreset>` | :ref:`nativeccd<option-flag-nativeccd>` | :ref:`island<option-flag-island>` | :ref:`override<option-flag-override>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | | |
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |