chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Add tendon actuator force limits and tendon actuator force sensor.

Browse Source 
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
This commit is contained in:
Taylor Howell
2025-04-08 05:15:27 -07:00
committed by Copybara-Service
parent 16e49f2761
commit 96dda6ea75
26 changed files with 464 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/introspect/enums.py
+29 -28
View File
@@ -340,34 +340,35 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjSENS_ACTUATORVEL', 14),
('mjSENS_ACTUATORFRC', 15),
('mjSENS_JOINTACTFRC', 16),
('mjSENS_BALLQUAT', 17),
('mjSENS_BALLANGVEL', 18),
('mjSENS_JOINTLIMITPOS', 19),
('mjSENS_JOINTLIMITVEL', 20),
('mjSENS_JOINTLIMITFRC', 21),
('mjSENS_TENDONLIMITPOS', 22),
('mjSENS_TENDONLIMITVEL', 23),
('mjSENS_TENDONLIMITFRC', 24),
('mjSENS_FRAMEPOS', 25),
('mjSENS_FRAMEQUAT', 26),
('mjSENS_FRAMEXAXIS', 27),
('mjSENS_FRAMEYAXIS', 28),
('mjSENS_FRAMEZAXIS', 29),
('mjSENS_FRAMELINVEL', 30),
('mjSENS_FRAMEANGVEL', 31),
('mjSENS_FRAMELINACC', 32),
('mjSENS_FRAMEANGACC', 33),
('mjSENS_SUBTREECOM', 34),
('mjSENS_SUBTREELINVEL', 35),
('mjSENS_SUBTREEANGMOM', 36),
('mjSENS_GEOMDIST', 37),
('mjSENS_GEOMNORMAL', 38),
('mjSENS_GEOMFROMTO', 39),
('mjSENS_E_POTENTIAL', 40),
('mjSENS_E_KINETIC', 41),
('mjSENS_CLOCK', 42),
('mjSENS_PLUGIN', 43),
('mjSENS_USER', 44),
('mjSENS_TENDONACTFRC', 17),
('mjSENS_BALLQUAT', 18),
('mjSENS_BALLANGVEL', 19),
('mjSENS_JOINTLIMITPOS', 20),
('mjSENS_JOINTLIMITVEL', 21),
('mjSENS_JOINTLIMITFRC', 22),
('mjSENS_TENDONLIMITPOS', 23),
('mjSENS_TENDONLIMITVEL', 24),
('mjSENS_TENDONLIMITFRC', 25),
('mjSENS_FRAMEPOS', 26),
('mjSENS_FRAMEQUAT', 27),
('mjSENS_FRAMEXAXIS', 28),
('mjSENS_FRAMEYAXIS', 29),
('mjSENS_FRAMEZAXIS', 30),
('mjSENS_FRAMELINVEL', 31),
('mjSENS_FRAMEANGVEL', 32),
('mjSENS_FRAMELINACC', 33),
('mjSENS_FRAMEANGACC', 34),
('mjSENS_SUBTREECOM', 35),
('mjSENS_SUBTREELINVEL', 36),
('mjSENS_SUBTREEANGMOM', 37),
('mjSENS_GEOMDIST', 38),
('mjSENS_GEOMNORMAL', 39),
('mjSENS_GEOMFROMTO', 40),
('mjSENS_E_POTENTIAL', 41),
('mjSENS_E_KINETIC', 42),
('mjSENS_CLOCK', 43),
('mjSENS_PLUGIN', 44),
('mjSENS_USER', 45),
]),
)),
('mjtStage',
python/mujoco/introspect/structs.py
+43
View File
@@ -3615,6 +3615,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='does tendon have length limits',
array_extent=('ntendon',),
),
StructFieldDecl(
name='tendon_actfrclimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='does tendon have actuator force limits',
array_extent=('ntendon',),
),
StructFieldDecl(
name='tendon_width',
type=PointerType(
@@ -3663,6 +3671,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='tendon length limits',
array_extent=('ntendon', 2),
),
StructFieldDecl(
name='tendon_actfrcrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='range of total actuator force',
array_extent=('ntendon', 2),
),
StructFieldDecl(
name='tendon_margin',
type=PointerType(
@@ -8135,6 +8151,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='tendon_actfrclimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='tendon_width',
type=PointerType(
@@ -8149,6 +8172,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='tendon_actfrcrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_stiffness',
type=PointerType(
@@ -11342,6 +11372,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='does tendon have limits (mjtLimited)',
),
StructFieldDecl(
name='actfrclimited',
type=ValueType(name='int'),
doc='does tendon have actuator force limits',
),
StructFieldDecl(
name='range',
type=ArrayType(
@@ -11350,6 +11385,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='length limits',
),
StructFieldDecl(
name='actfrcrange',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(2,),
),
doc='actuator force limits',
),
StructFieldDecl(
name='margin',
type=ValueType(name='double'),