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Migrate types in mjs structs.

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PiperOrigin-RevId: 942546629
Change-Id: I46f2b24b53a43361fdc67dc32f2af1c0ce8b1de8
This commit is contained in:
Yuval Tassa
2026-07-04 11:27:00 -07:00
committed by Copybara-Service
parent 315bcfbf3a
commit 11f1da0c44
15 changed files with 339 additions and 311 deletions
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src/user/user_api.cc
+5 -5
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@@ -1324,7 +1324,7 @@ const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange) {
mjs_setToPosition(actuator, kp, kv, dampratio, timeconst, inheritrange);
actuator->dyntype = mjDYN_INTEGRATOR;
actuator->actlimited = 1;
actuator->actlimited = mjLIMITED_TRUE;
if (inheritrange > 0) {
if (actuator->actrange[0] || actuator->actrange[1]) {
@@ -1353,7 +1353,7 @@ const char* mjs_setToVelocity(mjsActuator* actuator, double kv) {
const char* mjs_setToDamper(mjsActuator* actuator, double kv) {
mjuu_zerovec(actuator->gainprm, mjNGAIN);
actuator->gainprm[2] = -kv;
actuator->ctrllimited = 1;
actuator->ctrllimited = mjLIMITED_TRUE;
actuator->dyntype = mjDYN_NONE;
actuator->gaintype = mjGAIN_AFFINE;
actuator->biastype = mjBIAS_NONE;
@@ -1435,7 +1435,7 @@ const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double t
// Set to adhesion actuator.
const char* mjs_setToAdhesion(mjsActuator* actuator, double gain) {
actuator->gainprm[0] = gain;
actuator->ctrllimited = 1;
actuator->ctrllimited = mjLIMITED_TRUE;
actuator->gaintype = mjGAIN_FIXED;
actuator->biastype = mjBIAS_NONE;
@@ -1523,7 +1523,7 @@ const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double
}
actuator->forcerange[0] = -tau_max;
actuator->forcerange[1] = tau_max;
actuator->forcelimited = 1;
actuator->forcelimited = mjLIMITED_TRUE;
}
// saturation: [tau_max, i_max, (di/dt)_max]
@@ -1601,7 +1601,7 @@ const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double
actuator->actdim = actdim;
// enforce actlimited = 0; homogeneous bounds are invalid across DC motor states
actuator->actlimited = 0;
actuator->actlimited = mjLIMITED_FALSE;
// DC motor always uses actearly
actuator->actearly = 1;