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Add control plugin API.

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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
This commit is contained in:
Saran Tunyasuvunakool
2022-12-06 08:23:07 -08:00
committed by Copybara-Service
parent 60fbb77b2a
commit e4f1d584ad
14 changed files with 70 additions and 41 deletions
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test/engine/engine_plugin_test.cc
+3 -3
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@@ -206,7 +206,7 @@ int RegisterSensorPlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes;
plugin.type |= mjPLUGIN_SENSOR;
plugin.capabilities |= mjPLUGIN_SENSOR;
plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
plugin.nsensordata =
@@ -250,7 +250,7 @@ int RegisterActuatorPlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes;
plugin.type |= mjPLUGIN_ACTUATOR;
plugin.capabilities |= mjPLUGIN_ACTUATOR;
plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
@@ -292,7 +292,7 @@ int RegisterPassivePlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes;
plugin.type |= mjPLUGIN_PASSIVE;
plugin.capabilities |= mjPLUGIN_PASSIVE;
plugin.nstate = +[](const mjModel* m, int instance) { return 0; };