Allow actuators to add damping and armature to joint and tendon transmissions.

PiperOrigin-RevId: 886899849 Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
2026-03-20 11:40:35 -07:00
parent f7bd6d15f7
commit 510d75f4cf
25 changed files with 1164 additions and 77 deletions
@@ -8,6 +8,11 @@ Upcoming version (not yet released)
 General
 ^^^^^^^

+- Actuators with joint or tendon transmissions can now contribute
+  :ref:`damping<actuator-general-damping>` and :ref:`armature<actuator-general-armature>` to their transmission target.
+  These are applied during the passive force and inertia computations, respectively, and are scaled by gear\ :sup:`2`
+  ("reflected" damping/inertia).
+
 .. youtube:: aKa3ZlEF9_Y
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   :width: 35%