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Add <dcmotor> actuator and related docs and tests.

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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
2026-04-01 07:49:53 -07:00
committed by Copybara-Service
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
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doc/changelog.rst
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@@ -8,6 +8,9 @@ Upcoming version (not yet released)
General
^^^^^^^
- Added the :ref:`dcmotor<actuator-dcmotor>` actuator for modeling DC motors. Supports optional
electrical dynamics (inductance), cogging torque, thermal resistance variation, and LuGre friction. See the
`technical note <_static/dcmotor.pdf>`__ for more details.
- Actuators with joint or tendon transmissions can now contribute
:ref:`damping<actuator-general-damping>` and :ref:`armature<actuator-general-armature>` to their transmission target.
These are applied during the passive force and inertia computations, respectively, and are scaled by gear\ :sup:`2`