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

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PiperOrigin-RevId: 886899849
Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
This commit is contained in:
Yuval Tassa
2026-03-20 11:40:35 -07:00
committed by Copybara-Service
parent f7bd6d15f7
commit 510d75f4cf
25 changed files with 1164 additions and 77 deletions
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include/mujoco/mjmodel.h
+5
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@@ -833,6 +833,7 @@ struct mjModel_ {
int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
int* jnt_bodyid; // id of joint's body (njnt x 1)
int* jnt_actuatorid; // actuator contributing damping / armature (njnt x 1)
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)
@@ -1149,6 +1150,7 @@ struct mjModel_ {
int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
int* tendon_matid; // material id for rendering (ntendon x 1)
int* tendon_actuatorid; // actuator contributing damping / armature (ntendon x 1)
int* tendon_group; // group for visibility (ntendon x 1)
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
@@ -1188,6 +1190,9 @@ struct mjModel_ {
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
mjtNum* actuator_damping; // linear damping coefficient (nu x 1)
mjtNum* actuator_dampingpoly; // high-order damping coefficients (nu x mjNPOLY)
mjtNum* actuator_armature; // armature added to target (joint, tendon) (nu x 1)
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_actnum; // number of activation variables (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
include/mujoco/mjspec.h
+2
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@@ -686,6 +686,8 @@ typedef struct mjsActuator_ { // actuator specification
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
double damping[mjNPOLY+1]; // damping coefficients
double armature; // armature inertia
// input/output clamping
int ctrllimited; // are control limits defined (mjtLimited)
include/mujoco/mjxmacro.h
+5
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@@ -314,6 +314,7 @@
X ( int, jnt_qposadr, njnt, 1 ) \
X ( int, jnt_dofadr, njnt, 1 ) \
X ( int, jnt_bodyid, njnt, 1 ) \
X ( int, jnt_actuatorid, njnt, 1 ) \
X ( int, jnt_group, njnt, 1 ) \
X ( mjtByte, jnt_limited, njnt, 1 ) \
X ( mjtByte, jnt_actfrclimited, njnt, 1 ) \
@@ -628,6 +629,7 @@
X ( int, tendon_adr, ntendon, 1 ) \
X ( int, tendon_num, ntendon, 1 ) \
X ( int, tendon_matid, ntendon, 1 ) \
X ( int, tendon_actuatorid, ntendon, 1 ) \
X ( int, tendon_group, ntendon, 1 ) \
X ( int, tendon_treenum, ntendon, 1 ) \
X ( int, tendon_treeid, ntendon, 2 ) \
@@ -662,6 +664,9 @@
X ( int, actuator_gaintype, nu, 1 ) \
X ( int, actuator_biastype, nu, 1 ) \
X ( int, actuator_trnid, nu, 2 ) \
X ( mjtNum, actuator_damping, nu, 1 ) \
X ( mjtNum, actuator_dampingpoly, nu, mjNPOLY ) \
X ( mjtNum, actuator_armature, nu, 1 ) \
X ( int, actuator_actadr, nu, 1 ) \
X ( int, actuator_actnum, nu, 1 ) \
X ( int, actuator_group, nu, 1 ) \