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Rename spec to sig in state-related API functions.

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(to avoid confusion with mjSpec)

PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
This commit is contained in:
Yuval Tassa
2025-08-16 08:37:41 -07:00
committed by Copybara-Service
parent 5a24eb2d34
commit 1447711037
11 changed files with 77 additions and 77 deletions
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python/mujoco/functions.cc
+8 -8
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@@ -292,20 +292,20 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_getState>(
pymodule,
[](const raw::MjModel* m, const raw::MjData* d,
Eigen::Ref<EigenVectorX> state, unsigned int spec) {
if (state.size() != mj_stateSize(m, spec)) {
throw py::type_error("state size should equal mj_stateSize(m, spec)");
Eigen::Ref<EigenVectorX> state, unsigned int sig) {
if (state.size() != mj_stateSize(m, sig)) {
throw py::type_error("state size should equal mj_stateSize(m, sig)");
}
return InterceptMjErrors(::mj_getState)(m, d, state.data(), spec);
return InterceptMjErrors(::mj_getState)(m, d, state.data(), sig);
});
Def<traits::mj_setState>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d,
const Eigen::Ref<EigenVectorX> state, unsigned int spec) {
if (state.size() != mj_stateSize(m, spec)) {
throw py::type_error("state size should equal mj_stateSize(m, spec)");
const Eigen::Ref<EigenVectorX> state, unsigned int sig) {
if (state.size() != mj_stateSize(m, sig)) {
throw py::type_error("state size should equal mj_stateSize(m, sig)");
}
return InterceptMjErrors(::mj_setState)(m, d, state.data(), spec);
return InterceptMjErrors(::mj_setState)(m, d, state.data(), sig);
});
Def<traits::mj_setKeyframe>(pymodule);
Def<traits::mj_addContact>(pymodule);