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Improve bindings for mjd_subQuat.

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- Accept `None` for optional arguments.
- Accept 3x3 matrices for matrix arguments.

PiperOrigin-RevId: 611000820
Change-Id: Id28cdb2ae574f372ff251f94ab4557d9d2eaa80b
This commit is contained in:
Yuval Tassa
2024-02-27 23:54:20 -08:00
committed by Copybara-Service
parent a5ea87b0e6
commit 982760a63b
2 changed files with 29 additions and 2 deletions
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python/mujoco/bindings_test.py
+7 -1
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@@ -1205,10 +1205,16 @@ Euler integrator, semi-implicit in velocity.
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))
quat2 = np.array((0.1, 0.2, 0.4, 0.5))
d1 = np.empty(9, np.float64)
d2 = np.empty(9, np.float64)
mujoco.mjd_subQuat(quat1, quat2, d1, d2)
d3 = np.empty((3, 3), np.float64)
d4 = np.empty((3, 3), np.float64)
mujoco.mjd_subQuat(quat1, quat2, None, d3)
mujoco.mjd_subQuat(quat1, quat2, d4, None)
np.testing.assert_array_equal(d2, d3.flatten())
np.testing.assert_array_equal(d1, d4.flatten())
def test_mjd_quat_intergrate(self):
scale = 0.1