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Add mjd_quatIntegrate, expose mjd_subQuat.

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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
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python/mujoco/functions.cc
+7 -3
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@@ -1239,6 +1239,11 @@ PYBIND11_MODULE(_functions, pymodule) {
return InterceptMjErrors(::mju_insertionSortInt)(
res.data(), res.size());
});
Def<traits::mju_Halton>(pymodule);
// Skipped: mju_strncpy (doesn't make sense in Python)
Def<traits::mju_sigmoid>(pymodule);
// Derivatives
Def<traits::mjd_transitionFD>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d,
@@ -1319,9 +1324,8 @@ PYBIND11_MODULE(_functions, pymodule) {
DsDa.has_value() ? DsDa->data() : nullptr,
DmDq.has_value() ? DmDq->data() : nullptr);
});
Def<traits::mju_Halton>(pymodule);
// Skipped: mju_strncpy (doesn't make sense in Python)
Def<traits::mju_sigmoid>(pymodule);
Def<traits::mjd_subQuat>(pymodule);
Def<traits::mjd_quatIntegrate>(pymodule);
} // PYBIND11_MODULE NOLINT(readability/fn_size)
} // namespace
} // namespace mujoco::python