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Fix implicit integrator derivatives when actuator force is clamped.

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The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.

PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
This commit is contained in:
Yuval Tassa
2026-02-11 13:30:15 -08:00
committed by Copybara-Service
parent d011285380
commit b466829482
3 changed files with 99 additions and 0 deletions
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doc/changelog.rst
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@@ -126,6 +126,8 @@ Documentation
Bug fixes
^^^^^^^^^
- Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives were
incorrectly computed when the force was clamped by :ref:`forcerange<actuator-general-forcerange>`.
- Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives did not
account for the :ref:`actearly<actuator-general-actearly>` flag.
- Multi threaded mesh processing, enabled by the :ref:`usethread<compiler-usethread>` compiler flag (on by default), was