chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Migrate mjtByte to mjtBool for boolean-valued fields.

Browse Source 
PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/functions.cc
+8 -8
View File
@@ -732,7 +732,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Eigen::Ref<const EigenVectorX> vec,
std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
geomgroup,
mjtByte flg_static, int bodyexclude, Eigen::Ref<EigenVectorI> geomid,
mjtBool flg_static, int bodyexclude, Eigen::Ref<EigenVectorI> geomid,
Eigen::Ref<EigenVectorX> dist,
std::optional<Eigen::Ref<EigenVectorX>> normal,
int nray, mjtNum cutoff) {
@@ -758,7 +758,7 @@ PYBIND11_MODULE(_functions, pymodule) {
const mjtNum(*vec)[3],
std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
geomgroup,
mjtByte flg_static, int bodyexclude,
mjtBool flg_static, int bodyexclude,
std::optional<Eigen::Ref<Eigen::Vector<int, 1>>> geomid,
std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
return mj_ray(m, d, &(*pnt)[0], &(*vec)[0],
@@ -817,8 +817,8 @@ PYBIND11_MODULE(_functions, pymodule) {
"mj_rayFlex",
util::UnwrapArgs(
[](const raw::MjModel* m, const raw::MjData* d, int flex_layer,
mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face,
mjtByte flg_skin, int flexid, const mjtNum(*pnt)[3],
mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
mjtBool flg_skin, int flexid, const mjtNum(*pnt)[3],
const mjtNum(*vec)[3],
std::optional<Eigen::Ref<Eigen::Vector<int, 1>>> vertid,
std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
@@ -1370,7 +1370,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mju_band2Dense>(
pymodule,
[](Eigen::Ref<EigenArrayXX> res, Eigen::Ref<const EigenVectorX> mat,
int ntotal, int nband, int ndense, mjtByte flg_sym) {
int ntotal, int nband, int ndense, mjtBool flg_sym) {
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
if (mat.size() != nMat) {
throw py::type_error(
@@ -1406,7 +1406,7 @@ PYBIND11_MODULE(_functions, pymodule) {
pymodule,
[](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenArrayXX> mat,
Eigen::Ref<const EigenArrayXX> vec, int ntotal, int nband, int ndense,
int nVec, mjtByte flg_sym) {
int nVec, mjtBool flg_sym) {
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
if (mat.size() != nMat) {
throw py::type_error(
@@ -1576,7 +1576,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mjd_transitionFD>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d,
mjtNum eps, mjtByte flg_centered,
mjtNum eps, mjtBool flg_centered,
std::optional<Eigen::Ref<EigenArrayXX>> A,
std::optional<Eigen::Ref<EigenArrayXX>> B,
std::optional<Eigen::Ref<EigenArrayXX>> C,
@@ -1607,7 +1607,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mjd_inverseFD>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d,
mjtNum eps, mjtByte flg_actuation,
mjtNum eps, mjtBool flg_actuation,
std::optional<Eigen::Ref<EigenArrayXX>> DfDq,
std::optional<Eigen::Ref<EigenArrayXX>> DfDv,
std::optional<Eigen::Ref<EigenArrayXX>> DfDa,