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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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src/engine/engine_core_smooth.c
+3 -3
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@@ -1712,7 +1712,7 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
continue;
}
mjtNum armature = m->tendon_armature[k];
mjtNum armature = m->tendon_armature[k] + mj_actuatorArmature(m, mjOBJ_TENDON, k);
if (!armature) {
continue;
}
@@ -1803,7 +1803,7 @@ void mj_crb(const mjModel* m, mjData* d) {
// init M(i,i) with armature inertia
int Madr_ij = adr + rownnz[i] - 1;
M[Madr_ij] = dof_armature[i];
M[Madr_ij] = dof_armature[i] + mj_actuatorArmature(m, mjOBJ_JOINT, m->dof_jntid[i]);
// precompute buf = crb_body_i * cdof_i
mjtNum buf[6];
@@ -2643,7 +2643,7 @@ void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc) {
continue;
}
mjtNum armature = m->tendon_armature[i];
mjtNum armature = m->tendon_armature[i] + mj_actuatorArmature(m, mjOBJ_TENDON, i);
// no armature: skip
if (!armature) {