Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

PiperOrigin-RevId: 884607673 Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:24:44 -07:00
parent aec1b45dce
commit efae9157a7
38 changed files with 1093 additions and 176 deletions
@@ -492,6 +492,11 @@ to change.
     - 10
     - The maximal number of real-valued parameters used to define the bias of each actuator.
       Determines the size of ``mjModel.actuator_biasprm``.
+   * - ``mjNPOLY``
+     - 2
+     - The number of nonlinear polynomial coefficients for joint and tendon stiffness and damping.
+       Determines the size of ``mjModel.{jnt,tendon}_{stiffness,damping}poly``. See
+       :ref:`polynomial forces<gePolynomial>`.
   * - ``mjNFLUID``
     - 12
     - The number of per-geom fluid interaction parameters required by the ellipsoidal model.