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
@@ -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)