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

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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
This commit is contained in:
Yuval Tassa
2026-03-16 13:24:44 -07:00
committed by Copybara-Service
parent aec1b45dce
commit efae9157a7
38 changed files with 1093 additions and 176 deletions
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include/mujoco/mjmodel.h
+9 -4
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@@ -42,6 +42,7 @@
#define mjNFLUID 12 // number of fluid interaction parameters
#define mjNREF 2 // number of solver reference parameters
#define mjNIMP 5 // number of solver impedance parameters
#define mjNPOLY 2 // number of high-order polynomial coefficients
#define mjNSENS 3 // number of sensor parameters
#define mjNSOLVER 200 // size of one mjData.solver array
#define mjNISLAND 20 // number of mjData.solver arrays
@@ -840,7 +841,8 @@ struct mjModel_ {
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
mjtNum* jnt_pos; // local anchor position (njnt x 3)
mjtNum* jnt_axis; // local joint axis (njnt x 3)
mjtNum* jnt_stiffness; // stiffness coefficient (njnt x 1)
mjtNum* jnt_stiffness; // linear stiffness coefficient (njnt x 1)
mjtNum* jnt_stiffnesspoly; // high-order stiffness coefficients (njnt x mjNPOLY)
mjtNum* jnt_range; // joint limits (njnt x 2)
mjtNum* jnt_actfrcrange; // range of total actuator force (njnt x 2)
mjtNum* jnt_margin; // min distance for limit detection (njnt x 1)
@@ -857,7 +859,8 @@ struct mjModel_ {
mjtNum* dof_solimp; // constraint solver impedance:frictionloss (nv x mjNIMP)
mjtNum* dof_frictionloss; // dof friction loss (nv x 1)
mjtNum* dof_armature; // dof armature inertia/mass (nv x 1)
mjtNum* dof_damping; // damping coefficient (nv x 1)
mjtNum* dof_damping; // linear damping coefficient (nv x 1)
mjtNum* dof_dampingpoly; // high-order damping coefficients (nv x mjNPOLY)
mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
mjtNum* dof_length; // linear: 1; angular: approx. length scale (nv x 1)
@@ -1162,8 +1165,10 @@ struct mjModel_ {
mjtNum* tendon_range; // tendon length limits (ntendon x 2)
mjtNum* tendon_actfrcrange; // range of total actuator force (ntendon x 2)
mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
mjtNum* tendon_stiffness; // stiffness coefficient (ntendon x 1)
mjtNum* tendon_damping; // damping coefficient (ntendon x 1)
mjtNum* tendon_stiffness; // linear stiffness coefficient (ntendon x 1)
mjtNum* tendon_stiffnesspoly; // high-order stiffness coefficients (ntendon x mjNPOLY)
mjtNum* tendon_damping; // linear damping coefficient (ntendon x 1)
mjtNum* tendon_dampingpoly; // high-order damping coefficients (ntendon x mjNPOLY)
mjtNum* tendon_armature; // inertia associated with tendon velocity (ntendon x 1)
mjtNum* tendon_frictionloss; // loss due to friction (ntendon x 1)
mjtNum* tendon_lengthspring; // spring resting length range (ntendon x 2)