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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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wasm/codegen/generated/bindings.cc
+16
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@@ -9876,6 +9876,18 @@ std::string mjs_setToCylinder_wrapper(MjsActuator& actuator, double timeconst, d
return std::string(mjs_setToCylinder(actuator.get(), timeconst, bias, area, diameter));
}
std::string mjs_setToDCMotor_wrapper(MjsActuator& actuator, const val& motorconst, double resistance, const val& nominal, const val& saturation, const val& inductance, const val& cogging, const val& controller, const val& thermal, const val& lugre, int input_mode) {
UNPACK_VALUE(double, motorconst);
UNPACK_VALUE(double, nominal);
UNPACK_VALUE(double, saturation);
UNPACK_VALUE(double, inductance);
UNPACK_VALUE(double, cogging);
UNPACK_VALUE(double, controller);
UNPACK_VALUE(double, thermal);
UNPACK_VALUE(double, lugre);
return std::string(mjs_setToDCMotor(actuator.get(), motorconst_.data(), resistance, nominal_.data(), saturation_.data(), inductance_.data(), cogging_.data(), controller_.data(), thermal_.data(), lugre_.data(), input_mode));
}
std::string mjs_setToDamper_wrapper(MjsActuator& actuator, double kv) {
return std::string(mjs_setToDamper(actuator.get(), kv));
}
@@ -10812,6 +10824,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjBIAS_NONE", mjBIAS_NONE)
.value("mjBIAS_AFFINE", mjBIAS_AFFINE)
.value("mjBIAS_MUSCLE", mjBIAS_MUSCLE)
.value("mjBIAS_DCMOTOR", mjBIAS_DCMOTOR)
.value("mjBIAS_USER", mjBIAS_USER);
enum_<mjtBuiltin>("mjtBuiltin")
.value("mjBUILTIN_NONE", mjBUILTIN_NONE)
@@ -10912,6 +10925,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjDYN_FILTER", mjDYN_FILTER)
.value("mjDYN_FILTEREXACT", mjDYN_FILTEREXACT)
.value("mjDYN_MUSCLE", mjDYN_MUSCLE)
.value("mjDYN_DCMOTOR", mjDYN_DCMOTOR)
.value("mjDYN_USER", mjDYN_USER);
enum_<mjtEnableBit>("mjtEnableBit")
.value("mjENBL_OVERRIDE", mjENBL_OVERRIDE)
@@ -10974,6 +10988,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjGAIN_FIXED", mjGAIN_FIXED)
.value("mjGAIN_AFFINE", mjGAIN_AFFINE)
.value("mjGAIN_MUSCLE", mjGAIN_MUSCLE)
.value("mjGAIN_DCMOTOR", mjGAIN_DCMOTOR)
.value("mjGAIN_USER", mjGAIN_USER);
enum_<mjtGeom>("mjtGeom")
.value("mjGEOM_PLANE", mjGEOM_PLANE)
@@ -13295,6 +13310,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mjs_setName", &mjs_setName_wrapper);
function("mjs_setToAdhesion", &mjs_setToAdhesion_wrapper);
function("mjs_setToCylinder", &mjs_setToCylinder_wrapper);
function("mjs_setToDCMotor", &mjs_setToDCMotor_wrapper);
function("mjs_setToDamper", &mjs_setToDamper_wrapper);
function("mjs_setToIntVelocity", &mjs_setToIntVelocity_wrapper);
function("mjs_setToMotor", &mjs_setToMotor_wrapper);