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Fix implicit integrator derivatives for actearly actuators.

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The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.

PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
This commit is contained in:
Yuval Tassa
2026-02-11 04:02:43 -08:00
committed by Copybara-Service
parent 730d494b7f
commit 7f74487a26
6 changed files with 108 additions and 31 deletions
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src/engine/engine_derivative.c
+9 -3
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@@ -1117,9 +1117,15 @@ void mjd_actuator_vel(const mjModel* m, mjData* d) {
if (m->actuator_dyntype[i] == mjDYN_NONE) {
bias_vel += gain_vel * d->ctrl[i];
} else {
int act_first = m->actuator_actadr[i];
int act_last = act_first + m->actuator_actnum[i] - 1;
bias_vel += gain_vel * d->act[act_last];
int act_adr = m->actuator_actadr[i] + m->actuator_actnum[i] - 1;
mjtNum act = d->act[act_adr];
// use next activation if actearly is set (matching forward pass)
if (m->actuator_actearly[i]) {
act = mj_nextActivation(m, d, i, act_adr, d->act_dot[act_adr]);
}
bias_vel += gain_vel * act;
}
}