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Improve nJmom by counting number of dofs for slidercrank and site transmissions

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PiperOrigin-RevId: 875233737
Change-Id: I2cf3afad7e29e176a4f5a917dd35cfad99b2b0a3
This commit is contained in:
Taylor Howell
2026-02-25 10:40:52 -08:00
committed by Copybara-Service
parent b907ffedaa
commit 53fadd9d63
5 changed files with 51 additions and 34 deletions
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src/user/user_model.cc
+14 -3
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@@ -44,6 +44,7 @@
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "cc/array_safety.h"
#include "engine/engine_core_util.h"
#include "engine/engine_forward.h"
#include "engine/engine_io.h"
#include "engine/engine_name.h"
@@ -3271,9 +3272,13 @@ int mjCModel::CountNJmom(const mjModel* m) {
break;
}
break;
// TODO(taylorhowell): improve upper bounds
case mjTRN_SLIDERCRANK:
count += nv;
{
int id_slider = m->actuator_trnid[2 * i + 1];
std::vector<int> chain(m->nv);
count += mj_mergeChain(m, chain.data(), m->site_bodyid[id],
m->site_bodyid[id_slider], 0);
}
break;
case mjTRN_TENDON:
@@ -3281,7 +3286,13 @@ int mjCModel::CountNJmom(const mjModel* m) {
break;
case mjTRN_SITE:
count += nv;
{
int refid = m->actuator_trnid[2 * i + 1];
int ref_body = refid >= 0 ? m->site_bodyid[refid] : 0;
std::vector<int> chain(m->nv);
count += mj_mergeChain(m, chain.data(), m->site_bodyid[id],
ref_body, /*flg_skipcommon=*/1);
}
break;
case mjTRN_BODY: