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

PiperOrigin-RevId: 620049593 Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:00:55 -07:00
parent d258d5e152
commit 47ba72ea59
16 changed files with 257 additions and 79 deletions
@@ -230,6 +230,7 @@ typedef struct _mjsJoint {         // joint specification

  // other
  int group;                       // group
+  mjtByte actgravcomp;             // is gravcomp force applied via actuators
  double urdfeffort;               // effort (urdf)
  mjDoubleVec userdata;            // user data
  mjString info;                   // message appended to compiler errors