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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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test/engine/engine_forward_test.cc
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@@ -1665,6 +1665,7 @@ TEST_F(ForwardTest, FlexTrilinearInstability) {
mj_deleteData(data);
mj_deleteModel(model);
}
// Verify that flex damping does not affect rigid body motion
TEST_F(ForwardTest, FlexDampingRigidMotion) {
constexpr char xml[] = R"(