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Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
This commit is contained in:
Yuval Tassa
2026-03-16 13:24:44 -07:00
committed by Copybara-Service
parent aec1b45dce
commit efae9157a7
38 changed files with 1093 additions and 176 deletions
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python/mujoco/codegen/generate_spec_bindings.py
+40 -19
View File
@@ -486,13 +486,20 @@ def generate_add() -> None:
f'py::object& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
if f.name == 'size' and f.type.extents[0] == 3:
if (
f.name == 'size'
and f.type.extents[0] == 3
or f.name in ('stiffness', 'damping')
):
return (
f'set_array_size(out->{f.name}, {f.name});',
'array_size',
(
f'set_array_padded(out->{f.name}, {f.name},'
f' {f.type.extents[0]}, "{f.name}");'
),
'array_padded',
f.name,
'list[float]',
f'std::optional<std::vector<double>>& {f.name}',
'Optional[list[float]]',
f'std::optional<py::object>& {f.name}',
f'py::arg("{f.name}") = py::none()',
)
return (
@@ -782,6 +789,34 @@ def generate_add() -> None:
}
};
"""
elif t == 'array_padded':
code += """\n
auto set_array_padded = [](auto&& des, const std::optional<py::object>& obj, int size, const char* name) {
if (obj.has_value() && !obj->is_none()) {
std::vector<double> array;
if (py::isinstance<py::int_>(*obj) || py::isinstance<py::float_>(*obj)) {
array.push_back(py::cast<double>(*obj));
} else if (py::isinstance<py::str>(*obj)) {
throw pybind11::type_error(
std::string(name) + " should be a numeric scalar or list.");
} else {
try {
array = py::cast<std::vector<double>>(*obj);
} catch (const py::cast_error&) {
throw pybind11::type_error(
std::string(name) + " should be a numeric scalar or list.");
}
}
if (array.empty() || array.size() > static_cast<size_t>(size)) {
std::string msg = std::string(name) + " should be a list/array of size 1 to " + std::to_string(size) + ".";
throw pybind11::value_error(msg);
}
for (int i = 0; i < size; i++) {
des[i] = (i < static_cast<int>(array.size())) ? array[i] : 0;
}
}
};
"""
elif t == 'char_array':
code += """\n
auto set_char_array = [](auto&& des, py::object& obj, int size, const char* name) {
@@ -814,20 +849,6 @@ def generate_add() -> None:
}
};
"""
elif t == 'array_size':
code += """\n
auto set_array_size = [](auto&& des, const std::optional<std::vector<double>>& array) {
if (array.has_value()) {
if (array->size() < 1 || array->size() > 3) {
std::string msg = "size should be a list/array of size 1, 2, or 3.";
throw pybind11::value_error(msg);
}
for (int i = 0; i < 3; i++) {
des[i] = (i < array->size()) ? array->at(i) : 0;
}
}
};
"""
elif t == 'value':
code += """\n
auto set_value = [](auto&& des, auto&& val) {