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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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src/user/user_model.cc
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@@ -1768,6 +1768,7 @@ void mjCModel::CopyTree(mjModel* m) {
m->jnt_group[jid] = pj->group;
m->jnt_limited[jid] = (mjtByte)pj->is_limited();
m->jnt_actfrclimited[jid] = (mjtByte)pj->is_actfrclimited();
m->jnt_actgravcomp[jid] = pj->actgravcomp;
m->jnt_qposadr[jid] = qposadr;
m->jnt_dofadr[jid] = dofadr;
m->jnt_bodyid[jid] = pj->body->id;