chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Automatically infer *limited field from *range field for joints, tendons and actuators.

Browse Source 
PiperOrigin-RevId: 467980594
Change-Id: If635c55a90cf949796b99a41395a6c2c4f7ea094
This commit is contained in:
Kevin Zakka
2022-08-16 11:34:41 -07:00
committed by Copybara-Service
parent 29535a8eca
commit 4bfc2c0311
9 changed files with 474 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.h
+5 -5
View File
@@ -228,7 +228,7 @@ class mjCJoint : public mjCBase {
// variables set by user: joint properties
mjtJoint type; // type of Joint
int group; // used for rendering
bool limited; // does joint have limits
int limited; // does joint have limits: 0 false, 1 true, 2 auto
double pos[3]; // anchor position
double axis[3]; // joint axis
double stiffness; // stiffness coefficient
@@ -783,7 +783,7 @@ class mjCTendon : public mjCBase {
// variables set by user
int group; // group for visualization
std::string material; // name of material for rendering
bool limited; // does tendon have limits
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
double width; // width for rendering
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
@@ -843,9 +843,9 @@ class mjCActuator : public mjCBase {
public:
// variables set by user or API
int group; // group for visualization
bool ctrllimited; // are control limits defined
bool forcelimited; // are force limits defined
bool actlimited; // are activation limits defined
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
mjtDyn dyntype; // dynamics type
mjtTrn trntype; // transmission type
mjtGain gaintype; // gain type