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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_writer.cc
+1
View File
@@ -307,6 +307,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
WriteAttr(elem, "range", 2, pjoint->range, def->joint.range);
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, pjoint->actfrclimited,
def->joint.actfrclimited);
WriteAttrKey(elem, "actuatorgravcomp", bool_map, 2, pjoint->actgravcomp, def->joint.actgravcomp);
WriteAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
WriteAttr(elem, "margin", 1, &pjoint->margin, &def->joint.margin);
WriteAttr(elem, "armature", 1, &pjoint->armature, &def->joint.armature);