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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_derivative.c
+8 -3
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@@ -1734,9 +1734,11 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
for (int j = 0; j < nv_awake; j++) {
int i = sleep_filter ? d->dof_awake_ind[j] : j;
mjtNum v = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum poly[mjNPOLY];
mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
mjtNum damping = m->dof_damping[i] + mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
int adr = m->D_rowadr[i] + m->D_diag[i];
d->qDeriv[adr] -= mjd_xPolyForce(m->dof_damping[i], poly, v, mjNPOLY, 1);
d->qDeriv[adr] -= mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
}
// flex edge damping
@@ -1775,7 +1777,10 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
}
mjtNum v = d->ten_velocity[i];
mjtNum B = -mjd_xPolyForce(m->tendon_damping[i], m->tendon_dampingpoly+mjNPOLY*i, v, mjNPOLY, 1);
mjtNum poly[mjNPOLY];
mju_copy(poly, m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY);
mjtNum damping = m->tendon_damping[i] + mj_actuatorDamping(m, mjOBJ_TENDON, i, poly);
mjtNum B = -mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
if (!B) {
continue;