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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/xml/xml_native_writer.cc
+24 -4
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@@ -395,7 +395,12 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
true);
WriteAttr(elem, "solimpfriction", mjNIMP, joint->solimp_friction, def->Joint().solimp_friction,
true);
WriteAttr(elem, "stiffness", 1, &joint->stiffness, &def->Joint().stiffness);
{
int nstiff = 1+mjNPOLY;
while (nstiff > 1 && joint->stiffness[nstiff-1] == 0
&& def->Joint().stiffness[nstiff-1] == 0) nstiff--;
WriteAttr(elem, "stiffness", nstiff, joint->stiffness, def->Joint().stiffness);
}
if (joint->type != mjJNT_FREE) {
WriteAttrKey(elem, "limited", TFAuto_map, 3, joint->limited, def->Joint().limited);
}
@@ -408,7 +413,12 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
WriteAttr(elem, "actuatorfrcrange", 2, joint->actfrcrange, def->Joint().actfrcrange);
WriteAttr(elem, "margin", 1, &joint->margin, &def->Joint().margin);
WriteAttr(elem, "armature", 1, &joint->armature, &def->Joint().armature);
WriteAttr(elem, "damping", 1, &joint->damping, &def->Joint().damping);
{
int ndamp = 1+mjNPOLY;
while (ndamp > 1 && joint->damping[ndamp-1] == 0
&& def->Joint().damping[ndamp-1] == 0) ndamp--;
WriteAttr(elem, "damping", ndamp, joint->damping, def->Joint().damping);
}
WriteAttr(elem, "frictionloss", 1, &joint->frictionloss, &def->Joint().frictionloss);
// userdata
@@ -753,8 +763,18 @@ void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def
WriteAttr(elem, "range", 2, tendon->range, def->Tendon().range);
WriteAttr(elem, "actuatorfrcrange", 2, tendon->actfrcrange, def->Tendon().actfrcrange);
WriteAttr(elem, "margin", 1, &tendon->margin, &def->Tendon().margin);
WriteAttr(elem, "stiffness", 1, &tendon->stiffness, &def->Tendon().stiffness);
WriteAttr(elem, "damping", 1, &tendon->damping, &def->Tendon().damping);
{
int nstiff = 1+mjNPOLY;
while (nstiff > 1 && tendon->stiffness[nstiff-1] == 0
&& def->Tendon().stiffness[nstiff-1] == 0) nstiff--;
WriteAttr(elem, "stiffness", nstiff, tendon->stiffness, def->Tendon().stiffness);
}
{
int ndamp = 1+mjNPOLY;
while (ndamp > 1 && tendon->damping[ndamp-1] == 0
&& def->Tendon().damping[ndamp-1] == 0) ndamp--;
WriteAttr(elem, "damping", ndamp, tendon->damping, def->Tendon().damping);
}
WriteAttr(elem, "armature", 1, &tendon->armature, &def->Tendon().armature);
WriteAttr(elem, "frictionloss", 1, &tendon->frictionloss, &def->Tendon().frictionloss);
if (tendon->springlength[0] != tendon->springlength[1] ||