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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/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 ) \