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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_forward.c
+9 -4
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@@ -26,8 +26,8 @@
#include "engine/engine_collision_driver.h"
#include "engine/engine_core_constraint.h"
#include "engine/engine_core_smooth.h"
#include "engine/engine_derivative.h"
#include "engine/engine_core_util.h"
#include "engine/engine_derivative.h"
#include "engine/engine_inverse.h"
#include "engine/engine_island.h"
#include "engine/engine_macro.h"
@@ -953,7 +953,9 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
if (!mjDISABLED(mjDSBL_EULERDAMP) && !mjDISABLED(mjDSBL_DAMPER)) {
for (int v=0; v < nv; v++) {
int i = sleep_filter ? dof_awake_ind[v] : v;
if (m->dof_damping[i] > 0 || !mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY)) {
if (m->dof_damping[i] > 0 ||
!mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY) ||
m->jnt_actuatorid[m->dof_jntid[i]] != -1) {
dof_damping = 1;
break;
}
@@ -983,8 +985,11 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
for (int v=0; v < nv; v++) {
int i = sleep_filter ? dof_awake_ind[v] : v;
mjtNum qv = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum damp_deriv = mjd_xPolyForce(m->dof_damping[i], poly, qv, mjNPOLY, 1);
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);
mjtNum damp_deriv = mjd_xPolyForce(damping, poly, qv, mjNPOLY, 1);
d->qH[m->M_rowadr[i] + m->M_rownnz[i] - 1] += m->opt.timestep * damp_deriv;
}