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

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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
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Yuval Tassa
2026-03-16 13:24:44 -07:00
committed by Copybara-Service
parent aec1b45dce
commit efae9157a7
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@@ -5,10 +5,35 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
.. youtube:: aKa3ZlEF9_Y
:align: right
:width: 35%
- Stiffness in :ref:`joints<body-joint-stiffness>` and :ref:`tendons<tendon-spatial-stiffness>` and damping in
:ref:`joints<body-joint-damping>` and :ref:`tendons<tendon-spatial-damping>` now support nonlinear polynomial
:ref:`force profiles<gePolynomial>`. New ``mjModel`` arrays (``jnt_stiffnesspoly``, ``tendon_stiffnesspoly``,
``dof_dampingpoly``, ``tendon_dampingpoly``) hold higher-order coefficients. The existing scalar arrays
(``jnt_stiffness``, ``dof_damping``, etc.) continue to hold the linear coefficient and are unchanged.
The polynomial order is defined by the new constant :ref:`mjNPOLY<glNumericSizes>`. A future breaking C-API change
may unify the linear and higher-order coefficients into a single array.
.. admonition:: Breaking API changes
:class: attention
- The ``mjs`` layer fields ``stiffness`` and ``damping`` in :ref:`mjsJoint` and :ref:`mjsTendon` have
been widened from ``mjtNum`` scalars to ``mjtNum[mjNPOLY+1]`` arrays. The first element is the linear coefficient
(previously the scalar), and subsequent elements are the higher-order :ref:`polynomial<gePolynomial>` coefficients.
**Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
Bug fixes
^^^^^^^^^
- Compiler now correctly accounts for negative scaling when loading user specified mesh data.
- The compiler now correctly accounts for negative scaling when loading user specified mesh data.
Version 3.6.0 (March 10, 2026)
------------------------------
@@ -195,7 +220,8 @@ Version 3.4.0 (December 5, 2025)
General
^^^^^^^
.. youtube:: vct493lGQ8Q
.. youtube:: aKa3ZlEF9_Y
:aspect: 2:1
:align: right
:width: 35%