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Add SDF functions to public API.

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PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
This commit is contained in:
Alessio Quaglino
2025-05-12 10:52:41 -07:00
committed by Copybara-Service
parent d77126dc58
commit 8a7c42c747
10 changed files with 232 additions and 16 deletions
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python/mujoco/introspect/enums.py
+11
View File
@@ -428,6 +428,17 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjFLEXSELF_AUTO', 4),
]),
)),
('mjtSDFType',
EnumDecl(
name='mjtSDFType',
declname='enum mjtSDFType_',
values=dict([
('mjSDFTYPE_SINGLE', 0),
('mjSDFTYPE_INTERSECTION', 1),
('mjSDFTYPE_MIDSURFACE', 2),
('mjSDFTYPE_COLLISION', 3),
]),
)),
('mjtTaskStatus',
EnumDecl(
name='mjtTaskStatus',
python/mujoco/introspect/functions.py
+93
View File
@@ -8570,6 +8570,99 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Sigmoid function over 0<=x<=1 using quintic polynomial.',
)),
('mjc_getSDF',
FunctionDecl(
name='mjc_getSDF',
return_type=PointerType(
inner_type=ValueType(name='mjpPlugin', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
),
doc='get sdf from geom id',
)),
('mjc_distance',
FunctionDecl(
name='mjc_distance',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='s',
type=PointerType(
inner_type=ValueType(name='mjSDF', is_const=True),
),
),
FunctionParameterDecl(
name='x',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='signed distance function',
)),
('mjc_gradient',
FunctionDecl(
name='mjc_gradient',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='s',
type=PointerType(
inner_type=ValueType(name='mjSDF', is_const=True),
),
),
FunctionParameterDecl(
name='gradient',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='x',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='gradient of sdf',
)),
('mjd_transitionFD',
FunctionDecl(
name='mjd_transitionFD',
python/mujoco/introspect/structs.py
+49
View File
@@ -8966,6 +8966,55 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
),
)),
('mjSDF',
StructDecl(
name='mjSDF',
declname='struct mjSDF_',
fields=(
StructFieldDecl(
name='plugin',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjpPlugin', is_const=True),
),
),
doc='',
),
StructFieldDecl(
name='id',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='type',
type=ValueType(name='mjtSDFType'),
doc='',
),
StructFieldDecl(
name='relpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='relmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='geomtype',
type=PointerType(
inner_type=ValueType(name='mjtGeom'),
),
doc='',
),
),
)),
('mjrRect',
StructDecl(
name='mjrRect',