Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
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+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_PYTHON_RAW_H_
+#define MUJOCO_PYTHON_RAW_H_
+
+#include <mjdata.h>
+#include <mjmodel.h>
+#include <mjrender.h>
+#include <mjvisualize.h>
+
+// Type aliases for MuJoCo C structs to allow us refer to consistently refer
+// to them under the "raw" namespace.
+namespace mujoco::raw {
+
+using MjContact = ::mjContact;
+using MjData = ::mjData;
+using MjLROpt = ::mjLROpt;
+using MjModel = ::mjModel;
+using MjOption = ::mjOption;
+using MjSolverStat = ::mjSolverStat;
+using MjStatistic = ::mjStatistic;
+using MjTimerStat = ::mjTimerStat;
+using MjVisual = ::mjVisual;
+using MjVisualGlobal = decltype(::mjVisual::global);
+using MjVisualQuality = decltype(::mjVisual::quality);
+using MjVisualHeadlight = decltype(::mjVisual::headlight);
+using MjVisualMap = decltype(::mjVisual::map);
+using MjVisualScale = decltype(::mjVisual::scale);
+using MjVisualRgba = decltype(::mjVisual::rgba);
+using MjWarningStat = ::mjWarningStat;
+
+// From mjrender.h
+using MjrRect = ::mjrRect;
+using MjrContext = ::mjrContext;
+
+// From mjvisualize.h
+using MjvPerturb = ::mjvPerturb;
+using MjvCamera = ::mjvCamera;
+using MjvGLCamera = ::mjvGLCamera;
+using MjvGeom = ::mjvGeom;
+using MjvLight = ::mjvLight;
+using MjvOption = ::mjvOption;
+using MjvScene = ::mjvScene;
+using MjvFigure = ::mjvFigure;
+
+}  // namespace mujoco::raw
+
+#endif  // MUJOCO_PYTHON_RAW_H_