chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #3445 from giusenso:fix/actuator-velocity-index

Browse Source 
PiperOrigin-RevId: 957597256
Change-Id: I10a1c85fb49f00d60aa65d0cbdedc110423adb95
This commit is contained in:
Copybara-Service
2026-08-01 05:10:55 -07:00
parent 279df98cd0 a670a6ac10
commit 2bb152b77b
2 changed files with 71 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_support.c
+1 -1
View File
@@ -735,7 +735,7 @@ mjtNum mj_nextActivation(const mjModel* m, const mjData* d,
mjtNum F_S = biasprm[4]; // static friction
mjtNum v_S = biasprm[5]; // Stribeck velocity
mjtNum sigma0 = dynprm[5]; // bristle stiffness
mjtNum velocity = d->actuator_velocity[actuator_id];
mjtNum velocity = d->actuator_velocity[m->actuator_outadr[actuator_id]];
mjtNum g = mj_lugreStribeck(velocity, F_C, F_S, v_S);
// ZOH exact ZOH integration: z(h) = exp(ah)*z(0) + ((exp(ah)-1)/a)*v