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Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.

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PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
This commit is contained in:
Yuval Tassa
2023-10-25 05:00:51 -07:00
committed by Copybara-Service
parent 190bfac2d6
commit a89412bb4a
8 changed files with 189 additions and 75 deletions
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include/mujoco/mjdata.h
+5 -1
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@@ -320,7 +320,11 @@ struct mjData_ {
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_passive; // passive force (nv x 1)
mjtNum* qfrc_spring; // passive spring force (nv x 1)
mjtNum* qfrc_damper; // passive damper force (nv x 1)
mjtNum* qfrc_gravcomp; // passive gravity compensation force (nv x 1)
mjtNum* qfrc_fluid; // passive fluid force (nv x 1)
mjtNum* qfrc_passive; // total passive force (nv x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
include/mujoco/mjxmacro.h
+4
View File
@@ -618,6 +618,10 @@
X ( mjtNum, cvel, nbody, 6 ) \
X ( mjtNum, cdof_dot, nv, 6 ) \
X ( mjtNum, qfrc_bias, nv, 1 ) \
X ( mjtNum, qfrc_spring, nv, 1 ) \
X ( mjtNum, qfrc_damper, nv, 1 ) \
X ( mjtNum, qfrc_gravcomp, nv, 1 ) \
X ( mjtNum, qfrc_fluid, nv, 1 ) \
X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \