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Add mjmEquality, mjmTendon and mjmWrap to C API.

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PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
This commit is contained in:
Alessio Quaglino
2024-02-10 03:29:22 -08:00
committed by Copybara-Service
parent 4ad1dc4b84
commit 1bd6a32af2
11 changed files with 423 additions and 175 deletions
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src/user/user_init.cc
+33
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@@ -134,6 +134,39 @@ void mjm_defaultLight(mjmLight& light) {
// Default equality attributes.
void mjm_defaultEquality(mjmEquality& equality) {
memset(&equality, 0, sizeof(mjmEquality));
equality.type = mjEQ_CONNECT;
equality.active = 1;
mj_defaultSolRefImp(equality.solref, equality.solimp);
equality.data[1] = 1;
equality.data[10] = 1; // torque:force ratio
}
// default tendon attributes
void mjm_defaultTendon(mjmTendon& tendon) {
memset(&tendon, 0, sizeof(mjmTendon));
tendon.group = 0;
tendon.width = 0.003;
tendon.limited = 2;
tendon.range[0] = 0;
tendon.range[1] = 0;
mj_defaultSolRefImp(tendon.solref_limit, tendon.solimp_limit);
mj_defaultSolRefImp(tendon.solref_friction, tendon.solimp_friction);
tendon.margin = 0;
tendon.stiffness = 0;
tendon.damping = 0;
tendon.frictionloss = 0;
tendon.springlength[0] = tendon.springlength[1] = -1;
tendon.rgba[0] = tendon.rgba[1] = tendon.rgba[2] = 0.5f;
tendon.rgba[3] = 1.0f;
}
// default actuator attributes
void mjm_defaultActuator(mjmActuator& actuator) {
memset(&actuator, 0, sizeof(mjmActuator));