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Changes to dcmotor:

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- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.

PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
This commit is contained in:
Yuval Tassa
2026-04-09 06:51:57 -07:00
committed by Copybara-Service
parent 26fb65c7a7
commit 81720071b8
14 changed files with 335 additions and 85 deletions
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doc/includes/references.h
+3 -3
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@@ -3664,9 +3664,9 @@ const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double t
double lmax, double vmax, double fpmax, double fvmax);
const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
double nominal[3], double saturation[4], double inductance[2],
double cogging[3], double controller[5], double thermal[6],
double lugre[6], int input_mode);
double nominal[3], double saturation[3], double inductance[2],
double cogging[3], double controller[6], double thermal[6],
double lugre[5], int input_mode);
mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
mjsHField* mjs_addHField(mjSpec* s);
mjsSkin* mjs_addSkin(mjSpec* s);