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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_setconst.c
+3 -1
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@@ -211,7 +211,9 @@ static void setFixed(mjModel* m, mjData* d) {
}
// tendon spans 2 trees and has no stiffness or damping: skip
if (treenum == 2 && m->tendon_stiffness[i] == 0 && m->tendon_damping[i] == 0) {
if (treenum == 2 &&
m->tendon_stiffness[i] == 0 && mju_isZero(m->tendon_stiffnesspoly+mjNPOLY*i, mjNPOLY) &&
m->tendon_damping[i] == 0 && mju_isZero(m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY)) {
continue;
}