Merge pull request #1450 from v-r-a:angmomMat

PiperOrigin-RevId: 612835207 Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
parent 49ddb7ca2e 93f9154d44
commit 6b7d714291
12 changed files with 279 additions and 9 deletions
@@ -444,6 +444,14 @@ PYBIND11_MODULE(_functions, pymodule) {
            jacr.has_value() ? jacr->data() : nullptr,
            &(*point)[0], &(*axis)[0], body);
      });
+  Def<traits::mj_angmomMat>(
+      pymodule, [](const raw::MjModel* m, raw::MjData* d,
+                   Eigen::Ref<EigenArrayXX> mat, int body) {
+        if (mat.rows() != 3 || mat.cols() != m->nv) {
+          throw py::type_error("mat should be of shape (3, nv)");
+        }
+        return InterceptMjErrors(::mj_angmomMat)(m, d, mat.data(), body);
+      });
  Def<traits::mj_name2id>(pymodule);
  Def<traits::mj_id2name>(pymodule);
  Def<traits::mj_fullM>(