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Add mjmActuator and mjmSensor.

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PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
This commit is contained in:
Alessio Quaglino
2024-02-09 05:10:10 -08:00
committed by Copybara-Service
parent e3cbad280c
commit 6fa139a693
9 changed files with 453 additions and 273 deletions
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src/user/user_init.cc
+43
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@@ -81,6 +81,8 @@ void mjm_defaultGeom(mjmGeom& geom) {
geom.fluid_coefs[2] = 1.5; // angular drag coefficient
geom.fluid_coefs[3] = 1.0; // kutta lift coefficient
geom.fluid_coefs[4] = 1.0; // magnus lift coefficient
geom.plugin.active = false;
geom.plugin.instance = nullptr;
}
@@ -131,3 +133,44 @@ void mjm_defaultLight(mjmLight& light) {
}
// default actuator attributes
void mjm_defaultActuator(mjmActuator& actuator) {
memset(&actuator, 0, sizeof(mjmActuator));
actuator.group = 0;
actuator.ctrllimited = 2;
actuator.forcelimited = 2;
actuator.actlimited = 2;
actuator.actdim = -1;
actuator.plugin_actdim = 0;
actuator.trntype = mjTRN_UNDEFINED;
actuator.dyntype = mjDYN_NONE;
actuator.gaintype = mjGAIN_FIXED;
actuator.biastype = mjBIAS_NONE;
actuator.actearly = 0;
actuator.gear[0] = 1;
actuator.dynprm[0] = 1;
actuator.gainprm[0] = 1;
actuator.cranklength = 0;
actuator.plugin.active = false;
actuator.plugin.instance = nullptr;
}
// default sensor attributes
void mjm_defaultSensor(mjmSensor& sensor) {
memset(&sensor, 0, sizeof(mjmSensor));
sensor.type = mjSENS_TOUCH;
sensor.datatype = mjDATATYPE_REAL;
sensor.needstage = mjSTAGE_ACC;
sensor.objtype = mjOBJ_UNKNOWN;
sensor.reftype = mjOBJ_UNKNOWN;
sensor.cutoff = 0;
sensor.noise = 0;
sensor.dim = 0;
}