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

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PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
This commit is contained in:
Yuval Tassa
2023-08-23 05:50:52 -07:00
committed by Copybara-Service
parent 5f2a2a325c
commit b7cf479abe
13 changed files with 156 additions and 18 deletions
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src/xml/xml_native_reader.cc
+3 -2
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@@ -103,9 +103,9 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"solver", "iterations", "noslip_iterations", "mpr_iterations",
"sdf_iterations", "sdf_initpoints"},
{"<"},
{"flag", "?", "19", "constraint", "equality", "frictionloss", "limit", "contact",
{"flag", "?", "21", "constraint", "equality", "frictionloss", "limit", "contact",
"passive", "gravity", "clampctrl", "warmstart",
"filterparent", "actuation", "refsafe", "sensor",
"filterparent", "actuation", "refsafe", "sensor", "midphase", "eulerdamp",
"override", "energy", "fwdinv", "sensornoise", "multiccd", "island"},
{">"},
@@ -1003,6 +1003,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
READDSBL("refsafe", mjDSBL_REFSAFE)
READDSBL("sensor", mjDSBL_SENSOR)
READDSBL("midphase", mjDSBL_MIDPHASE)
READDSBL("eulerdamp", mjDSBL_EULERDAMP)
#undef READDSBL
#define READENBL(NAME, MASK) \