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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/introspect/structs.py
+56 -12
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@@ -1732,9 +1732,17 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='stiffness coefficient',
doc='linear stiffness coefficient',
array_extent=('njnt',),
),
StructFieldDecl(
name='jnt_stiffnesspoly',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='high-order stiffness coefficients',
array_extent=('njnt', 'mjNPOLY'),
),
StructFieldDecl(
name='jnt_range',
type=PointerType(
@@ -1852,9 +1860,17 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='damping coefficient',
doc='linear damping coefficient',
array_extent=('nv',),
),
StructFieldDecl(
name='dof_dampingpoly',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='high-order damping coefficients',
array_extent=('nv', 'mjNPOLY'),
),
StructFieldDecl(
name='dof_invweight0',
type=PointerType(
@@ -4036,17 +4052,33 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='stiffness coefficient',
doc='linear stiffness coefficient',
array_extent=('ntendon',),
),
StructFieldDecl(
name='tendon_stiffnesspoly',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='high-order stiffness coefficients',
array_extent=('ntendon', 'mjNPOLY'),
),
StructFieldDecl(
name='tendon_damping',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='damping coefficient',
doc='linear damping coefficient',
array_extent=('ntendon',),
),
StructFieldDecl(
name='tendon_dampingpoly',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='high-order damping coefficients',
array_extent=('ntendon', 'mjNPOLY'),
),
StructFieldDecl(
name='tendon_armature',
type=PointerType(
@@ -7301,8 +7333,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
StructFieldDecl(
name='stiffness',
type=ValueType(name='double'),
doc='stiffness coefficient',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(3,),
),
doc='stiffness coefficients',
),
StructFieldDecl(
name='springref',
@@ -7371,8 +7406,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
StructFieldDecl(
name='damping',
type=ValueType(name='double'),
doc='damping coefficient',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(3,),
),
doc='damping coefficients',
),
StructFieldDecl(
name='frictionloss',
@@ -8934,8 +8972,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
StructFieldDecl(
name='stiffness',
type=ValueType(name='double'),
doc='stiffness coefficient',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(3,),
),
doc='stiffness coefficients',
),
StructFieldDecl(
name='springlength',
@@ -8947,8 +8988,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
StructFieldDecl(
name='damping',
type=ValueType(name='double'),
doc='damping coefficient',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(3,),
),
doc='damping coefficients',
),
StructFieldDecl(
name='frictionloss',