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Replace mjv_sceneState and related code with mjv_copy{Model,Data}

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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
This commit is contained in:
Yuval Tassa
2025-05-19 09:50:49 -07:00
committed by Copybara-Service
parent 8268c6d1ff
commit ced630181d
17 changed files with 357 additions and 3793 deletions
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python/mujoco/introspect/functions.py
-208
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@@ -4011,44 +4011,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Move camera with mouse; action is mjtMouse.',
)),
('mjv_moveCameraFromState',
FunctionDecl(
name='mjv_moveCameraFromState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Move camera with mouse given a scene state; action is mjtMouse.',
)),
('mjv_movePerturb',
FunctionDecl(
name='mjv_movePerturb',
@@ -4093,44 +4055,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Move perturb object with mouse; action is mjtMouse.',
)),
('mjv_movePerturbFromState',
FunctionDecl(
name='mjv_movePerturbFromState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Move perturb object with mouse given a scene state; action is mjtMouse.', # pylint: disable=line-too-long
)),
('mjv_moveModel',
FunctionDecl(
name='mjv_moveModel',
@@ -4560,48 +4484,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Update entire scene given model state.',
)),
('mjv_updateSceneFromState',
FunctionDecl(
name='mjv_updateSceneFromState',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState', is_const=True),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
FunctionParameterDecl(
name='catmask',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.', # pylint: disable=line-too-long
)),
('mjv_copyModel',
FunctionDecl(
name='mjv_copyModel',
@@ -4622,96 +4504,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Copy mjModel, skip large arrays not required for abstract visualization.', # pylint: disable=line-too-long
)),
('mjv_defaultSceneState',
FunctionDecl(
name='mjv_defaultSceneState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
),
doc='Set default scene state.',
)),
('mjv_makeSceneState',
FunctionDecl(
name='mjv_makeSceneState',
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='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
FunctionParameterDecl(
name='maxgeom',
type=ValueType(name='int'),
),
),
doc='Allocate resources and initialize a scene state object.',
)),
('mjv_freeSceneState',
FunctionDecl(
name='mjv_freeSceneState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
),
doc='Free scene state.',
)),
('mjv_updateSceneState',
FunctionDecl(
name='mjv_updateSceneState',
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'),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
),
doc='Update a scene state from model and data.',
)),
('mjv_addGeoms',
FunctionDecl(
name='mjv_addGeoms',
python/mujoco/introspect/structs.py
-1645
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