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Add jointactuatorfrc to schema.xml
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This was added to MuJoCo in version 2.3.7.

PiperOrigin-RevId: 568951119
Change-Id: Ie1479f66368078c7ad325d868d04f97086b7b029
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@nimrod-gileadi @copybara-github
nimrod-gileadi authored and copybara-github committed Sep 27, 2023
1 parent ec994b9 commit 94bc51d
Showing 1 changed file with 13 additions and 0 deletions.
13 changes: 13 additions & 0 deletions dm_control/mjcf/schema.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -249,12 +249,14 @@
<attribute name="axis" type="array" array_type="float" array_size="3"/>
<attribute name="springdamper" type="array" array_type="float" array_size="2"/>
<attribute name="limited" type="keyword" valid_values="false true auto"/>
<attribute name="actuatorfrclimited" type="keyword" valid_values="false true auto"/>
<attribute name="solreflimit" type="array" array_type="float" array_size="2"/>
<attribute name="solimplimit" type="array" array_type="float" array_size="5"/>
<attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
<attribute name="solimpfriction" type="array" array_type="float" array_size="5"/>
<attribute name="stiffness" type="float"/>
<attribute name="range" type="array" array_type="float" array_size="2"/>
<attribute name="actuatorfrcrange" type="array" array_type="float" array_size="2"/>
<attribute name="margin" type="float"/>
<attribute name="ref" type="float"/>
<attribute name="springref" type="float"/>
Expand Down Expand Up @@ -550,12 +552,14 @@
<attribute name="axis" type="array" array_type="float" array_size="3"/>
<attribute name="springdamper" type="array" array_type="float" array_size="2"/>
<attribute name="limited" type="keyword" valid_values="false true"/>
<attribute name="actuatorfrclimited" type="keyword" valid_values="false true"/>
<attribute name="solreflimit" type="array" array_type="float" array_size="2"/>
<attribute name="solimplimit" type="array" array_type="float" array_size="5"/>
<attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
<attribute name="solimpfriction" type="array" array_type="float" array_size="5"/>
<attribute name="stiffness" type="float"/>
<attribute name="range" type="array" array_type="float" array_size="2"/>
<attribute name="actuatorfrcrange" type="array" array_type="float" array_size="2"/>
<attribute name="margin" type="float"/>
<attribute name="ref" type="float"/>
<attribute name="springref" type="float"/>
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<attribute name="actuator" type="reference" required="true"/>
</attributes>
</element>
<element name="jointactuatorfrc" repeated="true" namespace="sensor">
<attributes>
<attribute name="name" type="identifier"/>
<attribute name="noise" type="float"/>
<attribute name="cutoff" type="float"/>
<attribute name="user" type="array" array_type="float"/>
<attribute name="joint" type="reference" required="true"/>
</attributes>
</element>
<element name="ballquat" repeated="true" namespace="sensor">
<attributes>
<attribute name="name" type="identifier"/>
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