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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/specs.cc
+25
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@@ -1303,6 +1303,31 @@ PYBIND11_MODULE(_specs, m) {
}
},
py::arg("gain"));
mjsActuator.def(
"set_to_dcmotor",
[](raw::MjsActuator* self, std::array<double, 2> motorconst,
double resistance,
std::array<double, 3> nominal, std::array<double, 4> saturation,
std::array<double, 2> inductance, std::array<double, 3> cogging,
std::array<double, 5> controller, std::array<double, 6> thermal,
std::array<double, 6> lugre, int input_mode) {
std::string err = mjs_setToDCMotor(
self, motorconst.data(), resistance, nominal.data(),
saturation.data(), inductance.data(), cogging.data(),
controller.data(), thermal.data(), lugre.data(), input_mode);
if (!err.empty()) {
throw pybind11::value_error(err);
}
},
py::arg("motorconst"), py::arg("resistance"),
py::arg("nominal") = std::array<double, 3>{0, 0, 0},
py::arg("saturation") = std::array<double, 4>{0, 0, 0, 0},
py::arg("inductance") = std::array<double, 2>{0, 0},
py::arg("cogging") = std::array<double, 3>{0, 0, 0},
py::arg("controller") = std::array<double, 5>{0, 0, 0, 0, 0},
py::arg("thermal") = std::array<double, 6>{0, 0, 0, 0, 0, 0},
py::arg("lugre") = std::array<double, 6>{0, 0, 0, 0, 0, 0},
py::arg("input_mode") = 0);
// ============================= MJSTENDONPATH ===============================
// helper struct for tendon path indexing