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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/mjxmacro.h
+4
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@@ -323,6 +323,7 @@
X ( mjtNum, jnt_pos, njnt, 3 ) \
X ( mjtNum, jnt_axis, njnt, 3 ) \
X ( mjtNum, jnt_stiffness, njnt, 1 ) \
X ( mjtNum, jnt_stiffnesspoly, njnt, mjNPOLY ) \
X ( mjtNum, jnt_range, njnt, 2 ) \
X ( mjtNum, jnt_actfrcrange, njnt, 2 ) \
X ( mjtNum, jnt_margin, njnt, 1 ) \
@@ -340,6 +341,7 @@
X ( mjtNum, dof_frictionloss, nv, 1 ) \
X ( mjtNum, dof_armature, nv, 1 ) \
X ( mjtNum, dof_damping, nv, 1 ) \
X ( mjtNum, dof_dampingpoly, nv, mjNPOLY ) \
X ( mjtNum, dof_invweight0, nv, 1 ) \
X ( mjtNum, dof_M0, nv, 1 ) \
X ( mjtNum, dof_length, nv, 1 )
@@ -643,7 +645,9 @@
X ( mjtNum, tendon_actfrcrange, ntendon, 2 ) \
X ( mjtNum, tendon_margin, ntendon, 1 ) \
X ( mjtNum, tendon_stiffness, ntendon, 1 ) \
X ( mjtNum, tendon_stiffnesspoly, ntendon, mjNPOLY ) \
X ( mjtNum, tendon_damping, ntendon, 1 ) \
X ( mjtNum, tendon_dampingpoly, ntendon, mjNPOLY ) \
X ( mjtNum, tendon_armature, ntendon, 1 ) \
X ( mjtNum, tendon_frictionloss, ntendon, 1 ) \
X ( mjtNum, tendon_lengthspring, ntendon, 2 ) \