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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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plugin/usd_decoder/usd_decoder.cc
+4 -4
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@@ -1249,12 +1249,12 @@ void ParseMjcPhysicsTendon(mjSpec* spec, const pxr::MjcPhysicsTendon& tendon) {
auto stiffness_attr = tendon.GetStiffnessAttr();
if (stiffness_attr.HasAuthoredValue()) {
stiffness_attr.Get(&mj_tendon->stiffness);
stiffness_attr.Get(&mj_tendon->stiffness[0]);
}
auto damping_attr = tendon.GetDampingAttr();
if (damping_attr.HasAuthoredValue()) {
damping_attr.Get(&mj_tendon->damping);
damping_attr.Get(&mj_tendon->damping[0]);
}
auto armature_attr = tendon.GetArmatureAttr();
@@ -1560,7 +1560,7 @@ void ParseMjcPhysicsJointAPI(mjsJoint* mj_joint,
if (stiffness_attr.HasAuthoredValue()) {
double stiffness;
stiffness_attr.Get(&stiffness);
mj_joint->stiffness = stiffness;
mj_joint->stiffness[0] = stiffness;
}
auto actuatorfrcrange_min_attr = joint_api.GetMjcActuatorfrcrangeMinAttr();
@@ -1628,7 +1628,7 @@ void ParseMjcPhysicsJointAPI(mjsJoint* mj_joint,
if (damping_attr.HasAuthoredValue()) {
double damping;
damping_attr.Get(&damping);
mj_joint->damping = damping;
mj_joint->damping[0] = damping;
}
auto frictionloss_attr = joint_api.GetMjcFrictionlossAttr();