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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/specs_test.py
+56
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@@ -1232,5 +1232,61 @@ class SpecsTest(absltest.TestCase):
self.assertGreater(spec3._address, 0)
self.assertLen({spec1._address, spec2._address, spec3._address}, 3)
def test_actuator_shortname(self):
spec = mujoco.MjSpec()
actuator = spec.add_actuator(
gainprm=np.zeros((10, 1)),
dyntype=mujoco.mjtDyn.mjDYN_FILTER,
gaintype=mujoco.mjtGain.mjGAIN_AFFINE,
biastype=mujoco.mjtBias.mjBIAS_AFFINE,
)
actuator.set_to_motor()
self.assertEqual(actuator.gainprm[0], 1)
self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
actuator.set_to_position(kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True)
self.assertEqual(actuator.gainprm[0], 2)
self.assertEqual(actuator.biasprm[1], -2)
self.assertEqual(actuator.biasprm[2], -3)
self.assertEqual(actuator.dynprm[0], 4)
self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_FILTEREXACT)
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
self.assertEqual(actuator.inheritrange, True)
actuator.set_to_intvelocity(
kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True
)
self.assertEqual(actuator.gainprm[0], 2)
self.assertEqual(actuator.biasprm[1], -2)
self.assertEqual(actuator.biasprm[2], -3)
self.assertEqual(actuator.dynprm[0], 4)
self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_INTEGRATOR)
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
self.assertEqual(actuator.inheritrange, True)
actuator.set_to_velocity(kv=5.0)
self.assertEqual(actuator.gainprm[0], 5)
self.assertEqual(actuator.biasprm[2], -5)
self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
actuator.set_to_damper(kv=6.0)
self.assertEqual(actuator.gainprm[0], 0)
self.assertEqual(actuator.gainprm[2], -6)
self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_AFFINE)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
actuator.set_to_adhesion(gain=7.0)
self.assertEqual(actuator.gainprm[0], 7)
self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
if __name__ == '__main__':
absltest.main()