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Clean up handling of auto-limits.

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PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
This commit is contained in:
Yuval Tassa
2024-02-15 02:42:50 -08:00
committed by Copybara-Service
parent d561995c03
commit ddabfb9b6a
5 changed files with 72 additions and 76 deletions
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src/user/user_api.h
+13 -6
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@@ -60,6 +60,13 @@ typedef enum _mjtMark { // mark type for procedural textures
} mjtMark;
typedef enum _mjtLimited { // type of limit specification
mjLIMITED_FALSE = 0, // not limited
mjLIMITED_TRUE, // limited
mjLIMITED_AUTO, // limited inferred from presence of range
} mjtLimited;
//---------------------------------- attribute structs (mjm) ---------------------------------------
typedef struct _mjmOrientation { // alternative orientation specifiers
@@ -132,12 +139,12 @@ typedef struct _mjmJoint { // joint specification
double springdamper[2]; // timeconst, dampratio
// limits
int limited; // does joint have limits
int limited; // does joint have limits (mjtLimited)
double range[2]; // joint limits
double margin; // margin value for joint limit detection
mjtNum solref_limit[mjNREF]; // solver reference: joint limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
int actfrclimited; // are actuator forces on joint limited
int actfrclimited; // are actuator forces on joint limited (mjtLimited)
double actfrcrange[2]; // actuator force limits
// dof properties
@@ -466,7 +473,7 @@ typedef struct _mjmTendon { // tendon specification
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
// length range
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
int limited; // does tendon have limits (mjtLimited)
double range[2]; // length limits
double margin; // margin value for tendon limit detection
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
@@ -520,11 +527,11 @@ typedef struct _mjmActuator { // actuator specification
double lengthrange[2]; // transmission length range
// input/output clamping
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
int ctrllimited; // are control limits defined (mjtLimited)
double ctrlrange[2]; // control range
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int forcelimited; // are force limits defined (mjtLimited)
double forcerange[2]; // force range
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined (mjtLimited)
double actrange[2]; // activation range
// other