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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_vis_visualize.c
+8 -3
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@@ -1055,9 +1055,12 @@ static void addSpatialTendonGeoms(const mjModel* m, mjData* d, const mjvOption*
continue;
}
int has_stiffness = m->tendon_stiffness[i] ||
!mju_isZero(m->tendon_stiffnesspoly+mjNPOLY*i, mjNPOLY);
// tendon has a deadband spring
int limitedspring =
m->tendon_stiffness[i] > 0 && // positive stiffness
has_stiffness && // positive stiffness
m->tendon_lengthspring[2*i] == 0 && // range lower-bound is 0
m->tendon_lengthspring[2*i+1] > 0; // range upper-bound is positive
@@ -1066,18 +1069,20 @@ static void addSpatialTendonGeoms(const mjModel* m, mjData* d, const mjvOption*
mjtNum lower = m->tendon_range[2*i];
mjtNum upper = m->tendon_range[2*i + 1];
int limitedconstraint =
m->tendon_stiffness[i] == 0 && // zero stiffness
!has_stiffness && // zero stiffness
m->tendon_limited[i] == 1 && // limited length range
lower == 0 && // range lower-bound is 0
ten_length < upper; // current length is smaller than upper bound
int has_damping = m->tendon_damping[i] || !mju_isZero(m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY);
// conditions for drawing a catenary
int draw_catenary =
!mjDISABLED(mjDSBL_GRAVITY) && // gravity enabled
mju_norm3(m->opt.gravity) > mjMINVAL && // gravity strictly nonzero
m->tendon_num[i] == 2 && // only two sites on the tendon
(limitedspring != limitedconstraint) && // either spring or constraint length limits
m->tendon_damping[i] == 0 && // no damping
!has_damping && // no damping
m->tendon_frictionloss[i] == 0; // no frictionloss
// no actuator