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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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introspect/functions.py
+78
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@@ -1783,6 +1783,84 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.', # pylint: disable=line-too-long
)),
('mj_stateSize',
FunctionDecl(
name='mj_stateSize',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='spec',
type=ValueType(name='unsigned int'),
),
),
doc='Return size of state specification.',
)),
('mj_getState',
FunctionDecl(
name='mj_getState',
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='state',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='spec',
type=ValueType(name='unsigned int'),
),
),
doc='Get state.',
)),
('mj_setState',
FunctionDecl(
name='mj_setState',
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='state',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='spec',
type=ValueType(name='unsigned int'),
),
),
doc='Set state.',
)),
('mj_addContact',
FunctionDecl(
name='mj_addContact',