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Fix gravcomp being ignored for movable bodies without joints. Fixes #3066

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PiperOrigin-RevId: 867679545
Change-Id: I8c16d3a4c93d121fcc30cab5179ba44fe49aaa19
This commit is contained in:
Yuval Tassa
2026-02-09 10:54:07 -08:00
committed by Copybara-Service
parent b637d7eb76
commit c1b3b3063e
3 changed files with 37 additions and 27 deletions
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src/engine/engine_passive.c
+6 -27
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@@ -668,34 +668,13 @@ void mj_passive(const mjModel* m, mjData* d) {
}
if (has_gravcomp) {
int nbody = sleep_filter ? d->nbody_awake : m->nbody;
for (int b=0; b < nbody; b++) {
int i = sleep_filter ? d->body_awake_ind[b] : b;
int ndof = sleep_filter ? d->nv_awake : nv;
for (int v=0; v < ndof; v++) {
int dof = sleep_filter ? d->dof_awake_ind[v] : v;
// skip if no joints
int jntnum = m->body_jntnum[i];
if (!jntnum) continue;
// skip if no gravity compensation
if (!m->body_gravcomp[i]) continue;
int start = m->body_jntadr[i];
int end = start + jntnum;
for (int j=start; j < end; j++) {
// skip if gravity compensation added via actuators
if (m->jnt_actgravcomp[j]) {
continue;
}
// get number of dofs for this joint
const int jnt_dofnum[4] = {6, 3, 1, 1};
int dofnum = jnt_dofnum[m->jnt_type[j]];
// add gravity compensation force
int dofadr = m->jnt_dofadr[j];
for (int k=0; k < dofnum; k++) {
d->qfrc_passive[dofadr+k] += d->qfrc_gravcomp[dofadr+k];
}
// add gravity compensation force unless added via actuators
if (!m->jnt_actgravcomp[m->dof_jntid[dof]]) {
d->qfrc_passive[dof] += d->qfrc_gravcomp[dof];
}
}
}