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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/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+2 -2
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@@ -2079,7 +2079,7 @@ class ModelWriter {
joint->solimp_friction + mjNIMP));
WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcStiffness, joint->stiffness);
MjcPhysicsTokens->mjcStiffness, joint->stiffness[0]);
WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcActuatorfrcrangeMin,
@@ -2116,7 +2116,7 @@ class ModelWriter {
MjcPhysicsTokens->mjcArmature, joint->armature);
WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcDamping, joint->damping);
MjcPhysicsTokens->mjcDamping, joint->damping[0]);
WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcFrictionloss,