Add functions for setting an mjsActuator to a specific shortcut type.
PiperOrigin-RevId: 769049331 Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
dd18dd2024
commit
f75772587a
@@ -9551,6 +9551,266 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
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),
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doc='Add default.',
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)),
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('mjs_setToMotor',
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FunctionDecl(
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name='mjs_setToMotor',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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),
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doc='Set actuator to motor, return error if any.',
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)),
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('mjs_setToPosition',
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FunctionDecl(
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name='mjs_setToPosition',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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FunctionParameterDecl(
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name='kp',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='kv',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(1,),
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),
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),
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FunctionParameterDecl(
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name='dampratio',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(1,),
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),
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),
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FunctionParameterDecl(
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name='timeconst',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(1,),
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),
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),
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FunctionParameterDecl(
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name='inheritrange',
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type=ValueType(name='double'),
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),
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),
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doc='Set actuator to position, return error if any.',
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)),
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('mjs_setToIntVelocity',
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FunctionDecl(
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name='mjs_setToIntVelocity',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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FunctionParameterDecl(
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name='kp',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='kv',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(1,),
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),
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),
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FunctionParameterDecl(
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name='dampratio',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(1,),
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),
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),
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FunctionParameterDecl(
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name='timeconst',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(1,),
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),
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),
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FunctionParameterDecl(
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name='inheritrange',
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type=ValueType(name='double'),
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),
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),
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doc='Set actuator to integrated velocity, return error if any.',
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)),
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('mjs_setToVelocity',
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FunctionDecl(
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name='mjs_setToVelocity',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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FunctionParameterDecl(
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name='kv',
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type=ValueType(name='double'),
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),
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),
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doc='Set actuator to velocity servo, return error if any.',
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)),
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('mjs_setToDamper',
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FunctionDecl(
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name='mjs_setToDamper',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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FunctionParameterDecl(
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name='kv',
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type=ValueType(name='double'),
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),
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),
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doc='Set actuator to activate damper, return error if any.',
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)),
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('mjs_setToCylinder',
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FunctionDecl(
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name='mjs_setToCylinder',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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FunctionParameterDecl(
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name='timeconst',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='bias',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='area',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='diameter',
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type=ValueType(name='double'),
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),
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),
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doc='Set actuator to hydraulic or pneumatic cylinder, return error if any.', # pylint: disable=line-too-long
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)),
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('mjs_setToMuscle',
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FunctionDecl(
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name='mjs_setToMuscle',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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FunctionParameterDecl(
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name='timeconst',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(2,),
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),
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),
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FunctionParameterDecl(
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name='tausmooth',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='range',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(2,),
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),
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),
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FunctionParameterDecl(
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name='force',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='scale',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='lmin',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='lmax',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='vmax',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='fpmax',
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type=ValueType(name='double'),
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),
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FunctionParameterDecl(
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name='fvmax',
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type=ValueType(name='double'),
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),
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),
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doc='Set actuator to muscle, return error if any.a',
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)),
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('mjs_setToAdhesion',
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FunctionDecl(
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name='mjs_setToAdhesion',
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return_type=PointerType(
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inner_type=ValueType(name='char', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='actuator',
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type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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),
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FunctionParameterDecl(
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name='gain',
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type=ValueType(name='double'),
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),
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),
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doc='Set actuator to active adhesion, return error if any.',
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)),
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('mjs_addMesh',
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FunctionDecl(
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name='mjs_addMesh',
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@@ -1010,6 +1010,95 @@ PYBIND11_MODULE(_specs, m) {
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[](raw::MjsActuator& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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mjsActuator.def("set_to_motor", [](raw::MjsActuator* self) {
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std::string err = mjs_setToMotor(self);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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});
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mjsActuator.def(
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"set_to_position",
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[](raw::MjsActuator* self, double kp, double kv, double dampratio,
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double timeconst, bool inheritrange) {
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std::string err = mjs_setToPosition(
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self, kp, kv == -1 ? nullptr : &kv,
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dampratio == -1 ? nullptr : &dampratio,
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timeconst == -1 ? nullptr : &timeconst, inheritrange);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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},
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py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
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py::arg("timeconst") = -1, py::arg("inheritrange") = false);
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mjsActuator.def(
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"set_to_intvelocity",
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[](raw::MjsActuator* self, double kp, double kv, double dampratio,
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double timeconst, bool inheritrange) {
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std::string err = mjs_setToIntVelocity(
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self, kp, kv == -1 ? nullptr : &kv,
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dampratio == -1 ? nullptr : &dampratio,
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timeconst == -1 ? nullptr : &timeconst, inheritrange);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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},
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py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
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py::arg("timeconst") = -1, py::arg("inheritrange") = false);
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mjsActuator.def(
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"set_to_velocity",
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[](raw::MjsActuator* self, double kv) {
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std::string err = mjs_setToVelocity(self, kv);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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},
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py::arg("kv"));
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mjsActuator.def(
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"set_to_damper",
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[](raw::MjsActuator* self, double kv) {
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std::string err = mjs_setToDamper(self, kv);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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},
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py::arg("kv"));
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mjsActuator.def(
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"set_to_cylinder",
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[](raw::MjsActuator* self, double timeconst, double bias, double area,
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double diameter) {
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std::string err =
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mjs_setToCylinder(self, timeconst, bias, area, diameter);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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},
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py::arg("timeconst"), py::arg("bias"), py::arg("area"),
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py::arg("diameter") = -1);
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mjsActuator.def(
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"set_to_muscle",
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[](raw::MjsActuator* self, double timeconst[2], double tausmooth,
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double range[2], double force, double scale, double lmin, double lmax,
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double vmax, double fpmax, double fvmax) {
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std::string err =
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mjs_setToMuscle(self, timeconst, tausmooth, range, force, scale,
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lmin, lmax, vmax, fpmax, fvmax);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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},
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py::arg("timeconst") = -1, py::arg("tausmooth"),
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py::arg("range") = std::array<double, 2>{-1, -1}, py::arg("force") = -1,
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py::arg("scale") = -1, py::arg("lmin") = -1, py::arg("lmax") = -1,
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py::arg("vmax") = -1, py::arg("fpmax") = -1, py::arg("fvmax") = -1);
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mjsActuator.def(
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"set_to_adhesion",
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[](raw::MjsActuator* self, double gain) {
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std::string err = mjs_setToAdhesion(self, gain);
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if (!err.empty()) {
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throw pybind11::value_error(err);
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}
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},
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py::arg("gain"));
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// ============================= MJSTENDON ===================================
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mjsTendon.def("delete",
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@@ -1232,5 +1232,61 @@ class SpecsTest(absltest.TestCase):
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self.assertGreater(spec3._address, 0)
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self.assertLen({spec1._address, spec2._address, spec3._address}, 3)
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def test_actuator_shortname(self):
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spec = mujoco.MjSpec()
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actuator = spec.add_actuator(
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gainprm=np.zeros((10, 1)),
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dyntype=mujoco.mjtDyn.mjDYN_FILTER,
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gaintype=mujoco.mjtGain.mjGAIN_AFFINE,
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biastype=mujoco.mjtBias.mjBIAS_AFFINE,
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)
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actuator.set_to_motor()
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self.assertEqual(actuator.gainprm[0], 1)
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self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
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self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
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self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
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actuator.set_to_position(kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True)
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self.assertEqual(actuator.gainprm[0], 2)
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self.assertEqual(actuator.biasprm[1], -2)
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self.assertEqual(actuator.biasprm[2], -3)
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self.assertEqual(actuator.dynprm[0], 4)
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self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_FILTEREXACT)
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self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
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self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
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self.assertEqual(actuator.inheritrange, True)
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actuator.set_to_intvelocity(
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kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True
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)
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self.assertEqual(actuator.gainprm[0], 2)
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self.assertEqual(actuator.biasprm[1], -2)
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self.assertEqual(actuator.biasprm[2], -3)
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self.assertEqual(actuator.dynprm[0], 4)
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self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_INTEGRATOR)
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self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
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self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
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self.assertEqual(actuator.inheritrange, True)
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actuator.set_to_velocity(kv=5.0)
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self.assertEqual(actuator.gainprm[0], 5)
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self.assertEqual(actuator.biasprm[2], -5)
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self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
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self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
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self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
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actuator.set_to_damper(kv=6.0)
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self.assertEqual(actuator.gainprm[0], 0)
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self.assertEqual(actuator.gainprm[2], -6)
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self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
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self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_AFFINE)
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self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
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actuator.set_to_adhesion(gain=7.0)
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self.assertEqual(actuator.gainprm[0], 7)
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self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
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self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
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self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
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if __name__ == '__main__':
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absltest.main()
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