chenlin/Mujoco_WASM
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Add option to only sync the state to improve sync performance in passive mode.

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By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.

PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
This commit is contained in:
Matija Kecman
2025-06-27 02:48:58 -07:00
committed by Copybara-Service
parent 8f6a13aa8f
commit 09f7154e57
6 changed files with 50 additions and 29 deletions
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python/mujoco/simulate.cc
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@@ -336,6 +336,7 @@ PYBIND11_MODULE(_simulate, pymodule) {
CallIfNotNull(&mujoco::Simulate::LoadMessageClear),
py::call_guard<py::gil_scoped_release>())
.def("sync", CallIfNotNull(&mujoco::Simulate::Sync),
py::arg("state_only") = false,
py::call_guard<py::gil_scoped_release>())
.def("add_to_history", CallIfNotNull(&mujoco::Simulate::AddToHistory),
py::call_guard<py::gil_scoped_release>())