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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_objects.cc
+21
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@@ -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) {