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Add constraint island discovery

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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
This commit is contained in:
Yuval Tassa
2023-08-15 02:29:26 -07:00
committed by Copybara-Service
parent e4dddea42a
commit 3e034e38b2
40 changed files with 1557 additions and 468 deletions
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python/mujoco/bindings_test.py
+1 -1
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@@ -801,7 +801,7 @@ Euler integrator, semi-implicit in velocity.
self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1<<1)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1<<2)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_SENSORNOISE, 1<<3)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
python/mujoco/functions.cc
+1
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@@ -253,6 +253,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_rnePostConstraint>(pymodule);
Def<traits::mj_collision>(pymodule);
Def<traits::mj_makeConstraint>(pymodule);
Def<traits::mj_island>(pymodule);
Def<traits::mj_projectConstraint>(pymodule);
Def<traits::mj_referenceConstraint>(pymodule);
Def<traits::mj_constraintUpdate>(
python/mujoco/structs.cc
+9 -2
View File
@@ -710,6 +710,7 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
X(nnzJ);
X(nefc);
X(ncon);
X(nisland);
X(time);
X(energy);
#undef X
@@ -734,10 +735,12 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_PRIMAL
if (this->metadata_.is_dual) {
MJDATA_ARENA_POINTERS_DUAL
}
if (this->ptr_->nisland) {
MJDATA_ARENA_POINTERS_ISLAND
}
#undef MJ_M
#define MJ_M(x) x
#undef MJ_D
@@ -799,6 +802,7 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
X(nnzJ);
X(nefc);
X(ncon);
X(nisland);
X(time);
X(energy);
#undef X
@@ -825,10 +829,12 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_PRIMAL
if (metadata.is_dual) {
MJDATA_ARENA_POINTERS_DUAL
}
if (d->nisland) {
MJDATA_ARENA_POINTERS_ISLAND
}
#undef MJ_M
#define MJ_M(x) x
#undef MJ_D
@@ -1830,6 +1836,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
MJDATA_ARENA_POINTERS_PRIMAL
MJDATA_ARENA_POINTERS_DUAL
MJDATA_ARENA_POINTERS_ISLAND
#undef MJ_M
#define MJ_M(x) (x)