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Minor improvements to dcmotor

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PiperOrigin-RevId: 895907301
Change-Id: Ia50a6d06c1ede9894cc71f375db837d104f0211e
This commit is contained in:
Yuval Tassa
2026-04-07 08:10:42 -07:00
committed by Copybara-Service
parent b61d304126
commit 382474bb9d
8 changed files with 114 additions and 57 deletions
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wasm/codegen/generated/bindings.cc
+8 -8
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@@ -9877,14 +9877,14 @@ std::string mjs_setToCylinder_wrapper(MjsActuator& actuator, double timeconst, d
}
std::string mjs_setToDCMotor_wrapper(MjsActuator& actuator, const val& motorconst, double resistance, const val& nominal, const val& saturation, const val& inductance, const val& cogging, const val& controller, const val& thermal, const val& lugre, int input_mode) {
UNPACK_VALUE(double, motorconst);
UNPACK_VALUE(double, nominal);
UNPACK_VALUE(double, saturation);
UNPACK_VALUE(double, inductance);
UNPACK_VALUE(double, cogging);
UNPACK_VALUE(double, controller);
UNPACK_VALUE(double, thermal);
UNPACK_VALUE(double, lugre);
UNPACK_NULLABLE_VALUE(double, motorconst);
UNPACK_NULLABLE_VALUE(double, nominal);
UNPACK_NULLABLE_VALUE(double, saturation);
UNPACK_NULLABLE_VALUE(double, inductance);
UNPACK_NULLABLE_VALUE(double, cogging);
UNPACK_NULLABLE_VALUE(double, controller);
UNPACK_NULLABLE_VALUE(double, thermal);
UNPACK_NULLABLE_VALUE(double, lugre);
return std::string(mjs_setToDCMotor(actuator.get(), motorconst_.data(), resistance, nominal_.data(), saturation_.data(), inductance_.data(), cogging_.data(), controller_.data(), thermal_.data(), lugre_.data(), input_mode));
}