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Add tendon armature

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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
This commit is contained in:
Yuval Tassa
2025-04-04 07:42:40 -07:00
committed by Copybara-Service
parent e1f5ceb65a
commit d05251af2a
22 changed files with 735 additions and 44 deletions
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src/engine/engine_forward.c
+10 -5
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@@ -114,8 +114,9 @@ typedef struct mjFwdPositionArgs_ mjFwdPositionArgs;
// wrapper for mj_crb and mj_factorM
void* mj_inertialThreaded(void* args) {
mjFwdPositionArgs* forward_args = (mjFwdPositionArgs*) args;
mj_crb(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
mj_factorM(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
mj_crb(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
mj_tendonArmature(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
mj_factorM(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
return NULL;
}
@@ -142,9 +143,10 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
// no threadpool: inertia and collision on main thread
if (!d->threadpool) {
mj_crb(m, d); // timed internally (POS_INERTIA)
mj_factorM(m, d); // timed internally (POS_INERTIA)
mj_collision(m, d); // timed internally (POS_COLLISION)
mj_crb(m, d); // timed internally (POS_INERTIA)
mj_tendonArmature(m, d); // timed internally (POS_INERTIA)
mj_factorM(m, d); // timed internally (POS_INERTIA)
mj_collision(m, d); // timed internally (POS_COLLISION)
}
// have threadpool: inertia and collision on separate threads
@@ -222,6 +224,9 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) {
// compute qfrc_bias with abbreviated RNE (without acceleration)
mj_rne(m, d, 0, d->qfrc_bias);
// add bias force due to tendon armature
mj_tendonBias(m, d, d->qfrc_bias);
TM_END(mjTIMER_VELOCITY);
}