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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_inverse.c
+9 -3
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@@ -23,6 +23,7 @@
#include "engine/engine_collision_driver.h"
#include "engine/engine_core_constraint.h"
#include "engine/engine_core_smooth.h"
#include "engine/engine_core_util.h"
#include "engine/engine_derivative.h"
#include "engine/engine_memory.h"
#include "engine/engine_macro.h"
@@ -92,7 +93,9 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
dof_damping = 0;
if (!mjDISABLED(mjDSBL_EULERDAMP)) {
for (int i=0; i < nv; i++) {
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;
}
@@ -109,8 +112,11 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
mj_mulM(m, d, qfrc, qacc);
for (int i=0; i < nv; i++) {
mjtNum v = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum damp_deriv = mjd_xPolyForce(m->dof_damping[i], poly, v, 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, v, mjNPOLY, 1);
qfrc[i] += m->opt.timestep * damp_deriv * d->qacc[i];
}
break;