chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/functions.cc
+19
View File
@@ -269,6 +269,25 @@ PYBIND11_MODULE(_functions, pymodule) {
});
// Support
Def<traits::mj_stateSize>(pymodule);
Def<traits::mj_getState>(
pymodule,
[](const raw::MjModel* m, const raw::MjData* d,
Eigen::Ref<EigenVectorX> state, unsigned int spec) {
if (state.size() != mj_stateSize(m, spec)) {
throw py::type_error("state size should equal mj_stateSize(m, spec)");
}
return InterceptMjErrors(::mj_getState)(m, d, state.data(), spec);
});
Def<traits::mj_setState>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d,
const Eigen::Ref<EigenVectorX> state, unsigned int spec) {
if (state.size() != mj_stateSize(m, spec)) {
throw py::type_error("state size should equal mj_stateSize(m, spec)");
}
return InterceptMjErrors(::mj_setState)(m, d, state.data(), spec);
});
Def<traits::mj_addContact>(pymodule);
Def<traits::mj_isPyramidal>(pymodule);
Def<traits::mj_isSparse>(pymodule);