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Add sleep related data structures

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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
2025-11-06 12:09:59 -08:00
committed by Copybara-Service
parent 3080e3424f
commit 252a0d73df
37 changed files with 1907 additions and 186 deletions
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wasm/codegen/generated/bindings.cc
+128
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@@ -262,6 +262,12 @@ struct MjOption {
void set_ccd_tolerance(mjtNum value) {
ptr_->ccd_tolerance = value;
}
mjtNum sleep_tolerance() const {
return ptr_->sleep_tolerance;
}
void set_sleep_tolerance(mjtNum value) {
ptr_->sleep_tolerance = value;
}
emscripten::val gravity() const {
return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
}
@@ -3399,6 +3405,12 @@ struct MjsBody {
void set_gravcomp(double value) {
ptr_->gravcomp = value;
}
mjtSleepPolicy sleep() const {
return ptr_->sleep;
}
void set_sleep(mjtSleepPolicy value) {
ptr_->sleep = value;
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
@@ -4562,6 +4574,24 @@ struct MjModel {
emscripten::val dof_M0() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_M0));
}
emscripten::val dof_length() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_length));
}
emscripten::val tree_bodyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_bodyadr));
}
emscripten::val tree_bodynum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_bodynum));
}
emscripten::val tree_dofadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_dofadr));
}
emscripten::val tree_dofnum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_dofnum));
}
emscripten::val tree_sleep_policy() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_sleep_policy));
}
emscripten::val geom_type() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_type));
}
@@ -5273,6 +5303,12 @@ struct MjModel {
emscripten::val tendon_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_group));
}
emscripten::val tendon_treenum() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_treenum));
}
emscripten::val tendon_treeid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_treeid));
}
emscripten::val tendon_limited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_limited));
}
@@ -5798,6 +5834,30 @@ struct MjData {
void set_nidof(int value) {
ptr_->nidof = value;
}
int ntree_awake() const {
return ptr_->ntree_awake;
}
void set_ntree_awake(int value) {
ptr_->ntree_awake = value;
}
int nbody_awake() const {
return ptr_->nbody_awake;
}
void set_nbody_awake(int value) {
ptr_->nbody_awake = value;
}
int nparent_awake() const {
return ptr_->nparent_awake;
}
void set_nparent_awake(int value) {
ptr_->nparent_awake = value;
}
int nv_awake() const {
return ptr_->nv_awake;
}
void set_nv_awake(int value) {
ptr_->nv_awake = value;
}
mjtNum time() const {
return ptr_->time;
}
@@ -5858,6 +5918,9 @@ struct MjData {
emscripten::val sensordata() const {
return emscripten::val(emscripten::typed_memory_view(model->nsensordata, ptr_->sensordata));
}
emscripten::val tree_asleep() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_asleep));
}
emscripten::val plugin() const {
return emscripten::val(emscripten::typed_memory_view(model->nplugin, ptr_->plugin));
}
@@ -6002,6 +6065,21 @@ struct MjData {
emscripten::val bvh_active() const {
return emscripten::val(emscripten::typed_memory_view(model->nbvh, ptr_->bvh_active));
}
emscripten::val tree_awake() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_awake));
}
emscripten::val body_awake() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->body_awake));
}
emscripten::val body_awake_ind() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->body_awake_ind));
}
emscripten::val parent_awake_ind() const {
return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->parent_awake_ind));
}
emscripten::val dof_awake_ind() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->dof_awake_ind));
}
emscripten::val flexedge_velocity() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_velocity));
}
@@ -6126,6 +6204,18 @@ struct MjData {
emscripten::val tendon_efcadr() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->tendon_efcadr));
}
emscripten::val tree_island() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_island));
}
emscripten::val island_ntree() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_ntree));
}
emscripten::val island_itreeadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_itreeadr));
}
emscripten::val map_itree2tree() const {
return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->map_itree2tree));
}
emscripten::val dof_island() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->dof_island));
}
@@ -6792,6 +6882,7 @@ EMSCRIPTEN_BINDINGS(mujoco_enums) {
.value("mjENBL_FWDINV", mjENBL_FWDINV)
.value("mjENBL_INVDISCRETE", mjENBL_INVDISCRETE)
.value("mjENBL_MULTICCD", mjENBL_MULTICCD)
.value("mjENBL_SLEEP", mjENBL_SLEEP)
.value("mjNENABLE", mjNENABLE);
enum_<mjtJoint>("mjtJoint")
@@ -7035,6 +7126,14 @@ EMSCRIPTEN_BINDINGS(mujoco_enums) {
.value("mjSAMEFRAME_BODYROT", mjSAMEFRAME_BODYROT)
.value("mjSAMEFRAME_INERTIAROT", mjSAMEFRAME_INERTIAROT);
enum_<mjtSleepPolicy>("mjtSleepPolicy")
.value("mjSLEEP_AUTO", mjSLEEP_AUTO)
.value("mjSLEEP_AUTO_NEVER", mjSLEEP_AUTO_NEVER)
.value("mjSLEEP_AUTO_ALLOWED", mjSLEEP_AUTO_ALLOWED)
.value("mjSLEEP_NEVER", mjSLEEP_NEVER)
.value("mjSLEEP_ALLOWED", mjSLEEP_ALLOWED)
.value("mjSLEEP_INIT", mjSLEEP_INIT);
enum_<mjtLRMode>("mjtLRMode")
.value("mjLRMODE_NONE", mjLRMODE_NONE)
.value("mjLRMODE_MUSCLE", mjLRMODE_MUSCLE)
@@ -7125,6 +7224,11 @@ EMSCRIPTEN_BINDINGS(mujoco_enums) {
.value("mjTIMER_COL_NARROW", mjTIMER_COL_NARROW)
.value("mjNTIMER", mjNTIMER);
enum_<mjtSleepState>("mjtSleepState")
.value("mjS_STATIC", mjS_STATIC)
.value("mjS_ASLEEP", mjS_ASLEEP)
.value("mjS_AWAKE", mjS_AWAKE);
enum_<mjtGeomInertia>("mjtGeomInertia")
.value("mjINERTIA_VOLUME", mjINERTIA_VOLUME)
.value("mjINERTIA_SHELL", mjINERTIA_SHELL);
@@ -8547,6 +8651,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("ls_tolerance", &MjOption::ls_tolerance, &MjOption::set_ls_tolerance, reference())
.property("noslip_tolerance", &MjOption::noslip_tolerance, &MjOption::set_noslip_tolerance, reference())
.property("ccd_tolerance", &MjOption::ccd_tolerance, &MjOption::set_ccd_tolerance, reference())
.property("sleep_tolerance", &MjOption::sleep_tolerance, &MjOption::set_sleep_tolerance, reference())
.property("gravity", &MjOption::gravity)
.property("wind", &MjOption::wind)
.property("magnetic", &MjOption::magnetic)
@@ -8870,6 +8975,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nA", &MjData::nA, &MjData::set_nA, reference())
.property("nisland", &MjData::nisland, &MjData::set_nisland, reference())
.property("nidof", &MjData::nidof, &MjData::set_nidof, reference())
.property("ntree_awake", &MjData::ntree_awake, &MjData::set_ntree_awake, reference())
.property("nbody_awake", &MjData::nbody_awake, &MjData::set_nbody_awake, reference())
.property("nparent_awake", &MjData::nparent_awake, &MjData::set_nparent_awake, reference())
.property("nv_awake", &MjData::nv_awake, &MjData::set_nv_awake, reference())
.property("time", &MjData::time, &MjData::set_time, reference())
.property("energy", &MjData::energy)
.property("buffer", &MjData::buffer)
@@ -8889,6 +8998,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("act_dot", &MjData::act_dot)
.property("userdata", &MjData::userdata)
.property("sensordata", &MjData::sensordata)
.property("tree_asleep", &MjData::tree_asleep)
.property("plugin", &MjData::plugin)
.property("plugin_data", &MjData::plugin_data)
.property("xpos", &MjData::xpos)
@@ -8937,6 +9047,11 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("qLD", &MjData::qLD)
.property("qLDiagInv", &MjData::qLDiagInv)
.property("bvh_active", &MjData::bvh_active)
.property("tree_awake", &MjData::tree_awake)
.property("body_awake", &MjData::body_awake)
.property("body_awake_ind", &MjData::body_awake_ind)
.property("parent_awake_ind", &MjData::parent_awake_ind)
.property("dof_awake_ind", &MjData::dof_awake_ind)
.property("flexedge_velocity", &MjData::flexedge_velocity)
.property("ten_velocity", &MjData::ten_velocity)
.property("actuator_velocity", &MjData::actuator_velocity)
@@ -8979,6 +9094,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("efc_D", &MjData::efc_D)
.property("efc_R", &MjData::efc_R)
.property("tendon_efcadr", &MjData::tendon_efcadr)
.property("tree_island", &MjData::tree_island)
.property("island_ntree", &MjData::island_ntree)
.property("island_itreeadr", &MjData::island_itreeadr)
.property("map_itree2tree", &MjData::map_itree2tree)
.property("dof_island", &MjData::dof_island)
.property("island_nv", &MjData::island_nv)
.property("island_idofadr", &MjData::island_idofadr)
@@ -9207,6 +9326,12 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("dof_damping", &MjModel::dof_damping)
.property("dof_invweight0", &MjModel::dof_invweight0)
.property("dof_M0", &MjModel::dof_M0)
.property("dof_length", &MjModel::dof_length)
.property("tree_bodyadr", &MjModel::tree_bodyadr)
.property("tree_bodynum", &MjModel::tree_bodynum)
.property("tree_dofadr", &MjModel::tree_dofadr)
.property("tree_dofnum", &MjModel::tree_dofnum)
.property("tree_sleep_policy", &MjModel::tree_sleep_policy)
.property("geom_type", &MjModel::geom_type)
.property("geom_contype", &MjModel::geom_contype)
.property("geom_conaffinity", &MjModel::geom_conaffinity)
@@ -9444,6 +9569,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("tendon_num", &MjModel::tendon_num)
.property("tendon_matid", &MjModel::tendon_matid)
.property("tendon_group", &MjModel::tendon_group)
.property("tendon_treenum", &MjModel::tendon_treenum)
.property("tendon_treeid", &MjModel::tendon_treeid)
.property("tendon_limited", &MjModel::tendon_limited)
.property("tendon_actfrclimited", &MjModel::tendon_actfrclimited)
.property("tendon_width", &MjModel::tendon_width)
@@ -9947,6 +10074,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("fullinertia", &MjsBody::fullinertia)
.property("mocap", &MjsBody::mocap, &MjsBody::set_mocap, reference())
.property("gravcomp", &MjsBody::gravcomp, &MjsBody::set_gravcomp, reference())
.property("sleep", &MjsBody::sleep, &MjsBody::set_sleep, reference())
.property("userdata", &MjsBody::userdata, reference())
.property("explicitinertial", &MjsBody::explicitinertial, &MjsBody::set_explicitinertial, reference())
.property("plugin", &MjsBody::plugin, reference())