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Add <dcmotor> actuator and related docs and tests.

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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
This commit is contained in:
Yuval Tassa
2026-04-01 07:49:53 -07:00
committed by Copybara-Service
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
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python/mujoco/introspect/enums.py
+6 -3
View File
@@ -263,7 +263,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjDYN_FILTER', 2),
('mjDYN_FILTEREXACT', 3),
('mjDYN_MUSCLE', 4),
('mjDYN_USER', 5),
('mjDYN_DCMOTOR', 5),
('mjDYN_USER', 6),
]),
)),
('mjtGain',
@@ -274,7 +275,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjGAIN_FIXED', 0),
('mjGAIN_AFFINE', 1),
('mjGAIN_MUSCLE', 2),
('mjGAIN_USER', 3),
('mjGAIN_DCMOTOR', 3),
('mjGAIN_USER', 4),
]),
)),
('mjtBias',
@@ -285,7 +287,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjBIAS_NONE', 0),
('mjBIAS_AFFINE', 1),
('mjBIAS_MUSCLE', 2),
('mjBIAS_USER', 3),
('mjBIAS_DCMOTOR', 3),
('mjBIAS_USER', 4),
]),
)),
('mjtObj',
python/mujoco/introspect/functions.py
+80
View File
@@ -10786,6 +10786,86 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Set actuator to active adhesion; return error if any.',
)),
('mjs_setToDCMotor',
FunctionDecl(
name='mjs_setToDCMotor',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='motorconst',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(2,),
),
),
FunctionParameterDecl(
name='resistance',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='nominal',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(3,),
),
),
FunctionParameterDecl(
name='saturation',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(4,),
),
),
FunctionParameterDecl(
name='inductance',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(2,),
),
),
FunctionParameterDecl(
name='cogging',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(3,),
),
),
FunctionParameterDecl(
name='controller',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(5,),
),
),
FunctionParameterDecl(
name='thermal',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(6,),
),
),
FunctionParameterDecl(
name='lugre',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(6,),
),
),
FunctionParameterDecl(
name='input_mode',
type=ValueType(name='int'),
),
),
doc='Set actuator to DC motor; return error if any.',
)),
('mjs_addMesh',
FunctionDecl(
name='mjs_addMesh',