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Add put_model, put_data, and get_data to MJX.

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These io functions replace device_put, device_get_into. These new functions correctly copy intermediate fields such as efc_J, which the old functions could not.

PiperOrigin-RevId: 586712273
Change-Id: Ia3a4104af17db2ebd41b41a2ca501c5de9ac5d05
This commit is contained in:
Erik Frey
2023-11-30 10:13:47 -08:00
committed by Copybara-Service
parent 4c8ffb44bf
commit 67fa7c1dc2
15 changed files with 763 additions and 173 deletions
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mjx/mujoco/mjx/_src/scan_test.py
+4 -3
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@@ -210,15 +210,16 @@ class ScanTest(absltest.TestCase):
m, fn, 'ujqva', 'ujqva', *args, group_by='u'
)
actuator_trnid = m.actuator_trnid[:, 0]
np.testing.assert_array_equal(gear, m.actuator_gear)
np.testing.assert_array_equal(jnt_typ, m.jnt_type[m.actuator_trnid])
np.testing.assert_array_equal(jnt_typ, m.jnt_type[actuator_trnid])
np.testing.assert_array_equal(act, jp.array([1.4, 1.1]))
expected_vadr = np.concatenate(
[np.nonzero(m.dof_jntid == trnid)[0] for trnid in m.actuator_trnid]
[np.nonzero(m.dof_jntid == trnid)[0] for trnid in actuator_trnid]
)
np.testing.assert_array_equal(vadr, expected_vadr)
expected_qadr = np.concatenate(
[np.nonzero(scan._q_jointid(m) == i)[0] for i in m.actuator_trnid]
[np.nonzero(scan._q_jointid(m) == i)[0] for i in actuator_trnid]
)
np.testing.assert_array_equal(qadr, expected_qadr)