chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjspec.h
+4 -4
View File
@@ -265,7 +265,7 @@ typedef struct mjsJoint_ { // joint specification
int align; // align free joint with body com (mjtAlignFree)
// stiffness
double stiffness; // stiffness coefficient
double stiffness[mjNPOLY+1]; // stiffness coefficients
double springref; // spring reference value: qpos_spring
double springdamper[2]; // timeconst, dampratio
@@ -280,7 +280,7 @@ typedef struct mjsJoint_ { // joint specification
// dof properties
double armature; // armature inertia (mass for slider)
double damping; // damping coefficient
double damping[mjNPOLY+1]; // damping coefficients
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: dof friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
@@ -627,9 +627,9 @@ typedef struct mjsTendon_ { // tendon specification
mjsElement* element; // element type
// stiffness, damping, friction, armature
double stiffness; // stiffness coefficient
double stiffness[mjNPOLY+1]; // stiffness coefficients
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
double damping; // damping coefficient
double damping[mjNPOLY+1]; // damping coefficients
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction