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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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src/engine/engine_derivative.c
+6 -2
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@@ -1733,7 +1733,10 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
int nv_awake = sleep_filter ? d->nv_awake : nv;
for (int j = 0; j < nv_awake; j++) {
int i = sleep_filter ? d->dof_awake_ind[j] : j;
d->qDeriv[m->D_rowadr[i] + m->D_diag[i]] -= m->dof_damping[i];
mjtNum v = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
int adr = m->D_rowadr[i] + m->D_diag[i];
d->qDeriv[adr] -= mjd_xPolyForce(m->dof_damping[i], poly, v, mjNPOLY, 1);
}
// flex edge damping
@@ -1771,7 +1774,8 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
if (treenum == 2 && !d->tree_awake[id1] && !d->tree_awake[id2]) continue;
}
mjtNum B = -m->tendon_damping[i];
mjtNum v = d->ten_velocity[i];
mjtNum B = -mjd_xPolyForce(m->tendon_damping[i], m->tendon_dampingpoly+mjNPOLY*i, v, mjNPOLY, 1);
if (!B) {
continue;