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Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.

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PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
This commit is contained in:
Yuval Tassa
2023-06-12 08:55:58 -07:00
committed by Copybara-Service
parent 84c33e53df
commit f67e359532
16 changed files with 520 additions and 41 deletions
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include/mujoco/mujoco.h
+9
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@@ -357,6 +357,15 @@ MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
//---------------------------------- Support -------------------------------------------------------
// Return size of state specification.
MJAPI int mj_stateSize(const mjModel* m, unsigned int spec);
// Get state.
MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int spec);
// Set state.
MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int spec);
// Add contact to d->contact list; return 0 if success; 1 if buffer full.
MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);