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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/user/user_model.cc
+6
View File
@@ -3871,6 +3871,9 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_actearly[i] = pac->actearly;
m->actuator_cranklength[i] = (mjtNum)pac->cranklength;
mjuu_copyvec(m->actuator_gear + 6*i, pac->gear, 6);
m->actuator_damping[i] = (mjtNum)pac->damping[0];
mjuu_copyvec(m->actuator_dampingpoly + mjNPOLY*i, pac->damping + 1, mjNPOLY);
m->actuator_armature[i] = (mjtNum)pac->armature;
mjuu_copyvec(m->actuator_dynprm + mjNDYN*i, pac->dynprm, mjNDYN);
mjuu_copyvec(m->actuator_gainprm + mjNGAIN*i, pac->gainprm, mjNGAIN);
mjuu_copyvec(m->actuator_biasprm + mjNBIAS*i, pac->biasprm, mjNBIAS);
@@ -5712,6 +5715,9 @@ bool mjCModel::CopyBack(const mjModel* m) {
mjuu_copyvec(pa->actrange, m->actuator_actrange+2*i, 2);
mjuu_copyvec(pa->lengthrange, m->actuator_lengthrange+2*i, 2);
mjuu_copyvec(pa->gear, m->actuator_gear+6*i, 6);
pa->damping[0] = (double)m->actuator_damping[i];
mjuu_copyvec(pa->damping + 1, m->actuator_dampingpoly + mjNPOLY*i, mjNPOLY);
pa->armature = (double)m->actuator_armature[i];
pa->cranklength = (double)m->actuator_cranklength[i];
if (nuser_actuator) {
src/user/user_objects.cc
+21
View File
@@ -7126,6 +7126,27 @@ void mjCActuator::Compile(void) {
// find transmission target in object arrays
ResolveReferences(model);
// check damping/armature only valid for joint and tendon transmission
bool has_damping = false;
for (int i = 0; i < mjNPOLY+1; i++) {
if (damping[i] != 0) {
has_damping = true;
break;
}
}
if (has_damping &&
trntype != mjTRN_JOINT && trntype != mjTRN_JOINTINPARENT && trntype != mjTRN_TENDON) {
throw mjCError(this,
"damping requires joint or tendon transmission in actuator '%s' (id = %d)",
name.c_str(), id);
}
if (armature != 0 &&
trntype != mjTRN_JOINT && trntype != mjTRN_JOINTINPARENT && trntype != mjTRN_TENDON) {
throw mjCError(this,
"armature requires joint or tendon transmission in actuator '%s' (id = %d)",
name.c_str(), id);
}
// handle inheritrange
if (gaintype == mjGAIN_FIXED && biastype == mjBIAS_AFFINE &&
gainprm[0] == -biasprm[1] && inheritrange > 0) {