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Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.

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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
This commit is contained in:
Yuval Tassa
2025-08-29 06:05:18 -07:00
committed by Copybara-Service
parent 0eea5d6dbd
commit b092563cab
39 changed files with 455 additions and 289 deletions
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python/mujoco/bindings_test.py
+9 -9
View File
@@ -932,7 +932,7 @@ Euler integrator, semi-implicit in velocity.
self.assertLen(mujoco.mjFRAMESTRING, mujoco.mjtFrame.mjNFRAME)
self.assertLen(mujoco.mjVISSTRING, mujoco.mjtVisFlag.mjNVISFLAG)
self.assertLen(mujoco.mjRNDSTRING, mujoco.mjtRndFlag.mjNRNDFLAG)
self.assertEqual(mujoco.mjDISABLESTRING[11], 'Refsafe')
self.assertEqual(mujoco.mjDISABLESTRING[11], 'Actuation')
self.assertEqual(
mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA],
('Inertia', '0', 'I'),
@@ -1061,20 +1061,20 @@ Euler integrator, semi-implicit in velocity.
self.assertEqual(
mujoco.mjtDisableBit.mjDSBL_GRAVITY | mujoco.mjtDisableBit.mjDSBL_LIMIT,
72,
136,
)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE | 33, 33)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE & 33, 32)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE ^ 33, 1)
self.assertEqual(33 | mujoco.mjtDisableBit.mjDSBL_PASSIVE, 33)
self.assertEqual(33 & mujoco.mjtDisableBit.mjDSBL_PASSIVE, 32)
self.assertEqual(33 ^ mujoco.mjtDisableBit.mjDSBL_PASSIVE, 1)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_SPRING | 33, 33)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_SPRING & 33, 32)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_SPRING ^ 33, 1)
self.assertEqual(33 | mujoco.mjtDisableBit.mjDSBL_SPRING, 33)
self.assertEqual(33 & mujoco.mjtDisableBit.mjDSBL_SPRING, 32)
self.assertEqual(33 ^ mujoco.mjtDisableBit.mjDSBL_SPRING, 1)
self.assertEqual(
mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL << 1,
mujoco.mjtDisableBit.mjDSBL_WARMSTART,
)
self.assertEqual(
mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL >> 3,
mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL >> 4,
mujoco.mjtDisableBit.mjDSBL_CONTACT,
)
python/mujoco/introspect/enums.py
+15 -14
View File
@@ -32,20 +32,21 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjDSBL_FRICTIONLOSS', 4),
('mjDSBL_LIMIT', 8),
('mjDSBL_CONTACT', 16),
('mjDSBL_PASSIVE', 32),
('mjDSBL_GRAVITY', 64),
('mjDSBL_CLAMPCTRL', 128),
('mjDSBL_WARMSTART', 256),
('mjDSBL_FILTERPARENT', 512),
('mjDSBL_ACTUATION', 1024),
('mjDSBL_REFSAFE', 2048),
('mjDSBL_SENSOR', 4096),
('mjDSBL_MIDPHASE', 8192),
('mjDSBL_EULERDAMP', 16384),
('mjDSBL_AUTORESET', 32768),
('mjDSBL_NATIVECCD', 65536),
('mjDSBL_ISLAND', 131072),
('mjNDISABLE', 18),
('mjDSBL_SPRING', 32),
('mjDSBL_DAMPER', 64),
('mjDSBL_GRAVITY', 128),
('mjDSBL_CLAMPCTRL', 256),
('mjDSBL_WARMSTART', 512),
('mjDSBL_FILTERPARENT', 1024),
('mjDSBL_ACTUATION', 2048),
('mjDSBL_REFSAFE', 4096),
('mjDSBL_SENSOR', 8192),
('mjDSBL_MIDPHASE', 16384),
('mjDSBL_EULERDAMP', 32768),
('mjDSBL_AUTORESET', 65536),
('mjDSBL_NATIVECCD', 131072),
('mjDSBL_ISLAND', 262144),
('mjNDISABLE', 19),
]),
)),
('mjtEnableBit',