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Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.

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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
This commit is contained in:
Yuval Tassa
2024-03-28 14:00:55 -07:00
committed by Copybara-Service
parent d258d5e152
commit 47ba72ea59
16 changed files with 257 additions and 79 deletions
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include/mujoco/mjmodel.h
+4 -3
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@@ -641,9 +641,9 @@ struct mjModel_ {
int nemax; // number of potential equality-constraint rows
int njmax; // number of available rows in constraint Jacobian
int nconmax; // number of potential contacts in contact list
int nuserdata; // number of extra fields in mjData
int nsensordata; // number of fields in sensor data vector
int npluginstate; // number of fields in plugin state vector
int nuserdata; // number of mjtNums reserved for the user
int nsensordata; // number of mjtNums in sensor data vector
int npluginstate; // number of mjtNums in plugin state vector
size_t narena; // number of bytes in the mjData arena (inclusive of stack)
size_t nbuffer; // number of bytes in buffer
@@ -708,6 +708,7 @@ struct mjModel_ {
int* jnt_group; // group for visibility (njnt x 1)
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
mjtByte* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
mjtNum* jnt_pos; // local anchor position (njnt x 3)
include/mujoco/mjxmacro.h
+1
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@@ -215,6 +215,7 @@
XMJV( int, jnt_group, njnt, 1 ) \
X ( mjtByte, jnt_limited, njnt, 1 ) \
X ( mjtByte, jnt_actfrclimited, njnt, 1 ) \
X ( mjtByte, jnt_actgravcomp, njnt, 1 ) \
X ( mjtNum, jnt_solref, njnt, mjNREF ) \
X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
X ( mjtNum, jnt_pos, njnt, 3 ) \