Add flag for disabling implicit integration of joint damping in the Euler integrator.

PiperOrigin-RevId: 559398414 Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
2023-08-23 05:50:52 -07:00
parent 5f2a2a325c
commit b7cf479abe
13 changed files with 156 additions and 18 deletions
@@ -41,7 +41,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjDSBL_REFSAFE', 2048),
             ('mjDSBL_SENSOR', 4096),
             ('mjDSBL_MIDPHASE', 8192),
-             ('mjNDISABLE', 14),
+             ('mjDSBL_EULERDAMP', 16384),
+             ('mjNDISABLE', 15),
         ]),
     )),
    ('mjtEnableBit',