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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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python/mujoco/introspect/functions.py
+260
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@@ -9551,6 +9551,266 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Add default.',
)),
('mjs_setToMotor',
FunctionDecl(
name='mjs_setToMotor',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
),
doc='Set actuator to motor, return error if any.',
)),
('mjs_setToPosition',
FunctionDecl(
name='mjs_setToPosition',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='kp',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='kv',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(1,),
),
),
FunctionParameterDecl(
name='dampratio',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(1,),
),
),
FunctionParameterDecl(
name='timeconst',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(1,),
),
),
FunctionParameterDecl(
name='inheritrange',
type=ValueType(name='double'),
),
),
doc='Set actuator to position, return error if any.',
)),
('mjs_setToIntVelocity',
FunctionDecl(
name='mjs_setToIntVelocity',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='kp',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='kv',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(1,),
),
),
FunctionParameterDecl(
name='dampratio',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(1,),
),
),
FunctionParameterDecl(
name='timeconst',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(1,),
),
),
FunctionParameterDecl(
name='inheritrange',
type=ValueType(name='double'),
),
),
doc='Set actuator to integrated velocity, return error if any.',
)),
('mjs_setToVelocity',
FunctionDecl(
name='mjs_setToVelocity',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='kv',
type=ValueType(name='double'),
),
),
doc='Set actuator to velocity servo, return error if any.',
)),
('mjs_setToDamper',
FunctionDecl(
name='mjs_setToDamper',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='kv',
type=ValueType(name='double'),
),
),
doc='Set actuator to activate damper, return error if any.',
)),
('mjs_setToCylinder',
FunctionDecl(
name='mjs_setToCylinder',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='timeconst',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='bias',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='area',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='diameter',
type=ValueType(name='double'),
),
),
doc='Set actuator to hydraulic or pneumatic cylinder, return error if any.', # pylint: disable=line-too-long
)),
('mjs_setToMuscle',
FunctionDecl(
name='mjs_setToMuscle',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='timeconst',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(2,),
),
),
FunctionParameterDecl(
name='tausmooth',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='range',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(2,),
),
),
FunctionParameterDecl(
name='force',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='scale',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='lmin',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='lmax',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='vmax',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='fpmax',
type=ValueType(name='double'),
),
FunctionParameterDecl(
name='fvmax',
type=ValueType(name='double'),
),
),
doc='Set actuator to muscle, return error if any.a',
)),
('mjs_setToAdhesion',
FunctionDecl(
name='mjs_setToAdhesion',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='actuator',
type=PointerType(
inner_type=ValueType(name='mjsActuator'),
),
),
FunctionParameterDecl(
name='gain',
type=ValueType(name='double'),
),
),
doc='Set actuator to active adhesion, return error if any.',
)),
('mjs_addMesh',
FunctionDecl(
name='mjs_addMesh',