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

Add mjd_quatIntegrate, expose mjd_subQuat.

Browse Source 
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
This commit is contained in:
Yuval Tassa
2023-07-07 05:32:18 -07:00
committed by Copybara-Service
parent 7401d6786a
commit 5cfbb6ac8b
13 changed files with 366 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/bindings_test.py
+15
View File
@@ -1113,6 +1113,21 @@ Euler integrator, semi-implicit in velocity.
self.assertGreater(np.linalg.norm(ds_dv), eps)
self.assertGreater(np.linalg.norm(ds_da), eps)
def test_mjd_sub_quat(self):
quat1 = np.array((0.2, 0.3, 0.3, 0.4))
quat2 = np.array((0.2, 0.3, 0.3, 0.4))
d1 = np.empty(9, np.float64)
d2 = np.empty(9, np.float64)
mujoco.mjd_subQuat(quat1, quat2, d1, d2)
def test_mjd_quat_intergrate(self):
scale = 0.1
vel = np.array((0.2, 0.3, 0.3))
d_quat = np.empty(9, np.float64)
d_vel = np.empty(9, np.float64)
d_h = np.empty(3, np.float64)
mujoco.mjd_quatIntegrate(vel, scale, d_quat, d_vel, d_h)
def test_banded(self):
n_total = 4
n_band = 1