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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_test.py
+7
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@@ -1557,6 +1557,13 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
actuator.set_to_dcmotor(motorconst=[0.05, 0.05], resistance=2.0)
self.assertEqual(actuator.gainprm[0], 2.0)
self.assertEqual(actuator.gainprm[1], 0.05)
self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_DCMOTOR)
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_DCMOTOR)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_DCMOTOR)
def test_bad_contact_sensor(self):
test_cases = [
dict(