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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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unity/Runtime/Bindings/MjBindings.cs
+5
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@@ -1072,6 +1072,7 @@ public unsafe struct mjModel_ {
public int* jnt_qposadr;
public int* jnt_dofadr;
public int* jnt_bodyid;
public int* jnt_actuatorid;
public int* jnt_group;
public byte* jnt_limited;
public byte* jnt_actfrclimited;
@@ -1354,6 +1355,7 @@ public unsafe struct mjModel_ {
public int* tendon_adr;
public int* tendon_num;
public int* tendon_matid;
public int* tendon_actuatorid;
public int* tendon_group;
public int* tendon_treenum;
public int* tendon_treeid;
@@ -1389,6 +1391,9 @@ public unsafe struct mjModel_ {
public int* actuator_gaintype;
public int* actuator_biastype;
public int* actuator_trnid;
public double* actuator_damping;
public double* actuator_dampingpoly;
public double* actuator_armature;
public int* actuator_actadr;
public int* actuator_actnum;
public int* actuator_group;