bam.mujoco
==========

.. py:module:: bam.mujoco


Classes
-------

.. autoapisummary::

   bam.mujoco.MujocoController


Functions
---------

.. autoapisummary::

   bam.mujoco.load_config


Module Contents
---------------

.. py:class:: MujocoController(model: bam.model.Model, actuator: str, mujoco_model: mujoco.MjModel, mujoco_data: mujoco.MjData, vin_drop_gain: float | None = None, vin_min: float | None = None, max_current: float | None = None)

   A MujocoController is a class allowing to apply the torque and update frictions
   from the computed model during a simulation.

   :param bam.Model model: Model to use (can be loaded using load_model)
   :param str actuator: Actuator to control. The actuated joint properties will be updated. This can be a list of actuators
   :param mujoco.MjModel mujoco_model: The mujoco model
   :param mujoco.MjData mujoco_data: The mujoco data
   :param float | None vin_drop_gain: The voltage drop gain, if not None the voltage will be reduced by
       vin_drop_gain * load, where load is the sum of the absolute value of the motor torques
   :param float | None vin_min: the minimum voltage, if not None the voltage will not go below this value
   :param float | None max_current: Firmware current limit [A]. If not None, the motor current is
       clipped to ``[-max_current, max_current]`` (equivalently the motor torque is clipped to
       ``±max_current * kt``), reproducing the firmware-side current saturation of the motor.


   .. py:attribute:: model


   .. py:attribute:: actuator


   .. py:attribute:: mujoco_model


   .. py:attribute:: mujoco_data


   .. py:attribute:: vin_drop_gain
      :value: None



   .. py:attribute:: vin_min
      :value: None



   .. py:attribute:: max_current
      :value: None



   .. py:attribute:: dofs
      :value: []



   .. py:attribute:: q_target


   .. py:attribute:: dof_to_q_target


   .. py:attribute:: last_ts


   .. py:attribute:: act_indexes


   .. py:attribute:: joint_indexes


   .. py:attribute:: qpos_indexes


   .. py:attribute:: dof_indexes


   .. py:method:: get_q_target(name: str) -> float

      Return the current target position for a named actuator [rad].

      :param name: Actuator name as passed to the constructor.



   .. py:method:: set_q_target(name: str, q_target: float)

      Set the target position for a named actuator.

      :param name: Actuator name as passed to the constructor.
      :param q_target: Desired joint angle [rad].



   .. py:method:: reset(qpos)

      Reset the controller to a given joint position state.

      Should be called after every ``mujoco.mj_resetData`` to clear the
      internal target and voltage-drop state.

      :param qpos: Full ``mj_data.qpos`` array. The controller extracts
          the positions of its controlled joints.



   .. py:method:: update()

      Update the controlled actuator(s) data:
      - Torque to apply
      - Friction parameters
      - Damping



.. py:function:: load_config(path: str, mujoco_model: mujoco.MjModel, mujoco_data: mujoco.MjData, kp: float, vin: float) -> tuple

   Loads a BAM configuration file and returns the list of controllers and the mapping dicts.

   :param path: path to the configuration file
   :type path: str
   :param mujoco_model: the mujoco model
   :type mujoco_model: mujoco.MjModel
   :param mujoco_data: the mujoco data
   :type mujoco_data: mujoco.MjData
   :param kp: the proportional gain
   :type kp: float
   :param vin: the input voltage
   :type vin: float

   :returns: list of controllers, dofs to model mapping, dofs to id mapping
   :rtype: list