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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/xml/xml_native_writer.cc
+7
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@@ -857,6 +857,13 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* actuator, mjCDe
WriteAttr(elem, "actrange", 2, actuator->actrange, def->Actuator().actrange);
WriteAttr(elem, "lengthrange", 2, actuator->lengthrange, def->Actuator().lengthrange);
WriteAttr(elem, "gear", 6, actuator->gear, def->Actuator().gear);
{
int ndamp = 1+mjNPOLY;
while (ndamp > 1 && actuator->damping[ndamp-1] == 0
&& def->Actuator().damping[ndamp-1] == 0) ndamp--;
WriteAttr(elem, "damping", ndamp, actuator->damping, def->Actuator().damping);
}
WriteAttr(elem, "armature", 1, &actuator->armature, &def->Actuator().armature);
WriteAttr(elem, "cranklength", 1, &actuator->cranklength, &def->Actuator().cranklength);
WriteAttrKey(elem, "actearly", bool_map, 2, actuator->actearly,
def->Actuator().actearly);