chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 10 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/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'),