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Add functions for setting an mjsActuator to a specific shortcut type.

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PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
This commit is contained in:
Alessio Quaglino
2025-06-09 02:15:48 -07:00
committed by Copybara-Service
parent dd18dd2024
commit f75772587a
8 changed files with 723 additions and 139 deletions
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doc/includes/references.h
+13
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@@ -3438,6 +3438,19 @@ mjsTuple* mjs_addTuple(mjSpec* s);
mjsKey* mjs_addKey(mjSpec* s);
mjsPlugin* mjs_addPlugin(mjSpec* s);
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
const char* mjs_setToMotor(mjsActuator* actuator);
const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange);
const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
double dampratio[1], double timeconst[1], double inheritrange);
const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
const char* mjs_setToDamper(mjsActuator* actuator, double kv);
const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
double bias, double area, double diameter);
const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
double range[2], double force, double scale, double lmin,
double lmax, double vmax, double fpmax, double fvmax);
const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
mjsHField* mjs_addHField(mjSpec* s);
mjsSkin* mjs_addSkin(mjSpec* s);