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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/user/user_composite.cc
+1 -1
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@@ -419,7 +419,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
jnt->type = (first && strcmp(initial.c_str(), "free") == 0) ? mjJNT_FREE : mjJNT_BALL;
jnt->damping = jnt->type == mjJNT_FREE ? 0 : jnt->damping;
if (jnt->type == mjJNT_FREE) mjuu_zerovec(jnt->damping, 1+mjNPOLY);
jnt->armature = jnt->type == mjJNT_FREE ? 0 : jnt->armature;
jnt->frictionloss = jnt->type == mjJNT_FREE ? 0 : jnt->frictionloss;
mjs_setName(jnt->element, this_joint);
src/user/user_model.cc
+19 -10
View File
@@ -2395,8 +2395,8 @@ void mjCModel::AutoSpringDamper(mjModel* m) {
mjtNum damping = 2 * inertia / std::max(mjMINVAL, timeconst);
// save stiffness and damping in the private mjsJoints
joints_[n]->stiffness = stiffness;
joints_[n]->damping = damping;
joints_[n]->stiffness[0] = stiffness;
joints_[n]->damping[0] = damping;
// assign
m->jnt_stiffness[n] = stiffness;
@@ -2805,7 +2805,8 @@ void mjCModel::CopyTree(mjModel* m) {
m->jnt_bodyid[jid] = pj->body->id;
mjuu_copyvec(m->jnt_pos+3*jid, pj->pos, 3);
mjuu_copyvec(m->jnt_axis+3*jid, pj->axis, 3);
m->jnt_stiffness[jid] = (mjtNum)pj->stiffness;
m->jnt_stiffness[jid] = (mjtNum)pj->stiffness[0];
mjuu_copyvec(m->jnt_stiffnesspoly + mjNPOLY * jid, pj->stiffness + 1, mjNPOLY);
mjuu_copyvec(m->jnt_range+2*jid, pj->range, 2);
mjuu_copyvec(m->jnt_actfrcrange+2*jid, pj->actfrcrange, 2);
mjuu_copyvec(m->jnt_solref+mjNREF*jid, pj->solref_limit, mjNREF);
@@ -2862,7 +2863,9 @@ void mjCModel::CopyTree(mjModel* m) {
mjuu_copyvec(m->dof_solimp+mjNIMP*dofadr, pj->solimp_friction, mjNIMP);
m->dof_frictionloss[dofadr] = (mjtNum)pj->frictionloss;
m->dof_armature[dofadr] = (mjtNum)pj->armature;
m->dof_damping[dofadr] = (mjtNum)pj->damping;
m->dof_damping[dofadr] = (mjtNum)pj->damping[0];
mjuu_copyvec(m->dof_dampingpoly + mjNPOLY * dofadr, pj->damping + 1,
mjNPOLY);
// set dof_parentid, update body.lastdof
m->dof_parentid[dofadr] = pb->lastdof;
@@ -3805,8 +3808,10 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tendon_actfrcrange[2*i] = (mjtNum)pte->actfrcrange[0];
m->tendon_actfrcrange[2*i+1] = (mjtNum)pte->actfrcrange[1];
m->tendon_margin[i] = (mjtNum)pte->margin;
m->tendon_stiffness[i] = (mjtNum)pte->stiffness;
m->tendon_damping[i] = (mjtNum)pte->damping;
m->tendon_stiffness[i] = (mjtNum)pte->stiffness[0];
mjuu_copyvec(m->tendon_stiffnesspoly + mjNPOLY * i, pte->stiffness + 1, mjNPOLY);
m->tendon_damping[i] = (mjtNum)pte->damping[0];
mjuu_copyvec(m->tendon_dampingpoly + mjNPOLY * i, pte->damping + 1, mjNPOLY);
m->tendon_armature[i] = (mjtNum)pte->armature;
m->tendon_frictionloss[i] = (mjtNum)pte->frictionloss;
m->tendon_lengthspring[2*i] = (mjtNum)pte->springlength[0];
@@ -5542,7 +5547,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
// joint data
mjuu_copyvec(pj->pos, m->jnt_pos+3*i, 3);
mjuu_copyvec(pj->axis, m->jnt_axis+3*i, 3);
pj->stiffness = (double)m->jnt_stiffness[i];
pj->stiffness[0] = (double)m->jnt_stiffness[i];
mjuu_copyvec(pj->stiffness + 1, m->jnt_stiffnesspoly + mjNPOLY * i, mjNPOLY);
mjuu_copyvec(pj->range, m->jnt_range+2*i, 2);
mjuu_copyvec(pj->solref_limit, m->jnt_solref+mjNREF*i, mjNREF);
mjuu_copyvec(pj->solimp_limit, m->jnt_solimp+mjNIMP*i, mjNIMP);
@@ -5557,7 +5563,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
mjuu_copyvec(pj->solref_friction, m->dof_solref+mjNREF*j, mjNREF);
mjuu_copyvec(pj->solimp_friction, m->dof_solimp+mjNIMP*j, mjNIMP);
pj->armature = (double)m->dof_armature[j];
pj->damping = (double)m->dof_damping[j];
pj->damping[0] = (double)m->dof_damping[j];
mjuu_copyvec(pj->damping + 1, m->dof_dampingpoly + mjNPOLY * j, mjNPOLY);
pj->frictionloss = (double)m->dof_frictionloss[j];
}
@@ -5680,8 +5687,10 @@ bool mjCModel::CopyBack(const mjModel* m) {
mjuu_copyvec(tendons_[i]->rgba, m->tendon_rgba+4*i, 4);
tendons_[i]->width = (double)m->tendon_width[i];
tendons_[i]->margin = (double)m->tendon_margin[i];
tendons_[i]->stiffness = (double)m->tendon_stiffness[i];
tendons_[i]->damping = (double)m->tendon_damping[i];
tendons_[i]->stiffness[0] = (double)m->tendon_stiffness[i];
mjuu_copyvec(tendons_[i]->stiffness + 1, m->tendon_stiffnesspoly + mjNPOLY * i, mjNPOLY);
tendons_[i]->damping[0] = (double)m->tendon_damping[i];
mjuu_copyvec(tendons_[i]->damping + 1, m->tendon_dampingpoly + mjNPOLY * i, mjNPOLY);
tendons_[i]->armature = (double)m->tendon_armature[i];
tendons_[i]->frictionloss = (double)m->tendon_frictionloss[i];