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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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python/mujoco/indexer_xmacro.h
+5 -1
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@@ -15,7 +15,7 @@
#ifndef MUJOCO_PYTHON_INDEXER_XMACRO_H_
#define MUJOCO_PYTHON_INDEXER_XMACRO_H_
#include <mujoco/mjxmacro.h>
#include <mujoco/mjxmacro.h> // IWYU pragma: keep
#define MJMODEL_ACTUATOR \
X( int, actuator_, trntype, nu, 1 ) \
@@ -132,6 +132,7 @@
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_, margin, njnt, 1 ) \
X( mjtNum, jnt_, user, njnt, MJ_M(nuser_jnt) ) \
@@ -145,6 +146,7 @@
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 )
@@ -253,7 +255,9 @@
X( mjtNum, tendon, _range, 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, _frictionloss, ntendon, 1 ) \
X( mjtNum, tendon, _lengthspring, ntendon, 1 ) \
X( mjtNum, tendon, _length0, ntendon, 1 ) \