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Migrate mjtByte to mjtBool for boolean-valued fields.

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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
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wasm/tests/bindings_test.ts
+4 -4
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@@ -514,7 +514,7 @@ describe('MuJoCo WASM Bindings', () => {
it('should compute finite-differenced transition matrices', () => {
const eps = 1e-6;
const flg_centered = 0;
const flg_centered = false;
const dim = 2 * model!.nv + model!.na;
const A = new mujoco.DoubleBuffer(dim * dim);
const B = new mujoco.DoubleBuffer(dim * model!.nu);
@@ -1290,7 +1290,7 @@ describe('MuJoCo WASM Bindings', () => {
// Corresponds to bindings_test.py:test_inverse_fd_none
it('should compute inverse dynamics derivatives with null outputs', () => {
const eps = 1e-6;
const flg_centered = 0;
const flg_centered = false;
expect(
() => mujoco.mjd_inverseFD(
model!, data!, eps, flg_centered, null, null, null, null, null,
@@ -1301,7 +1301,7 @@ describe('MuJoCo WASM Bindings', () => {
// Corresponds to bindings_test.py:test_inverse_fd
it('should compute inverse dynamics derivatives', () => {
const eps = 1e-6;
const flg_centered = 0;
const flg_centered = false;
const nv = model!.nv;
const nsensordata = model!.nsensordata;
@@ -1427,7 +1427,7 @@ describe('MuJoCo WASM Bindings', () => {
expect(band.GetView()[index]).toEqual(i + 1);
}
const dense2 = new mujoco.DoubleBuffer(nTotal * nTotal);
const flgSym = 1;
const flgSym = true;
mujoco.mju_band2Dense(
dense2, band.GetView(), nTotal, nBand, nDense, flgSym);
expectArraysEqual(new Float64Array(dense), dense2.GetView());