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Add support for joint and tendon frictionloss to MJX.

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PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
This commit is contained in:
Baruch Tabanpour
2024-09-03 13:16:27 -07:00
committed by Copybara-Service
parent 2d3d5415b7
commit 49711fa14f
8 changed files with 143 additions and 44 deletions
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mjx/mujoco/mjx/test_data/constraints.xml
+2 -2
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@@ -29,7 +29,7 @@
</body>
<body name="beam3" pos="1 0 0">
<joint name="joint3" axis="1 0 0" type="hinge" range="-20 20"/>
<joint name="joint3" axis="1 0 0" type="hinge" range="-20 20" frictionloss="0.1"/>
<geom class="box"/>
</body>
@@ -65,7 +65,7 @@
</worldbody>
<tendon>
<fixed name="tendon_1" limited="true" range="-0.3 0.1" stiffness=".1" damping=".2">
<fixed name="tendon_1" limited="true" range="-0.3 0.1" stiffness=".1" damping=".2" frictionloss="0.1">
<joint joint="joint3" coef=".1"/>
<joint joint="joint4" coef="-.2"/>
</fixed>