chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 10 Packages Projects Releases Wiki Activity

Fix bug in Python binding of mj_saveModel

Browse Source 
PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
This commit is contained in:
Yuval Tassa
2024-04-17 05:57:57 -07:00
committed by Copybara-Service
parent 81feadad5c
commit 2b4975811b
2 changed files with 13 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/functions.cc
+10 -6
View File
@@ -106,11 +106,11 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_defaultOption>(pymodule);
Def<traits::mj_defaultVisual>(pymodule);
// Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel)
DEF_WITH_OMITTED_PY_ARGS(traits::mj_saveModel, "buffer_sz")(
pymodule,
[](const raw::MjModel* m, const std::optional<std::string>& filename,
pymodule.def(
"mj_saveModel",
[](const MjModelWrapper& m, const std::optional<std::string>& filename = std::nullopt,
std::optional<
Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer) {
Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer = std::nullopt) {
void* buffer_ptr = nullptr;
int buffer_sz = 0;
if (buffer.has_value()) {
@@ -118,9 +118,13 @@ PYBIND11_MODULE(_functions, pymodule) {
buffer_sz = buffer->size();
}
return InterceptMjErrors(::mj_saveModel)(
m, filename.has_value() ? filename->c_str() : nullptr,
m.get(), filename.has_value() ? filename->c_str() : nullptr,
buffer_ptr, buffer_sz);
});
},
py::arg("m"), py::arg_v("filename", std::nullopt),
py::arg_v("buffer", std::nullopt),
py::doc(traits::mj_saveModel::doc),
py::call_guard<py::gil_scoped_release>());
// Skipped: mj_loadModel (have MjModel.from_binary_path)
// Skipped: mj_deleteModel (have MjModel.__del__)
Def<traits::mj_sizeModel>(pymodule);