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Merge pull request #419 from aftersomemath:simulate-python

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PiperOrigin-RevId: 487496285
Change-Id: I17d15bd2a3886e5ce1631f4eb78afa94830d08cc
This commit is contained in:
Copybara-Service
2022-11-10 04:12:34 -08:00
parent 0b45129ca4 8cc983af5b
commit f7b256de91
14 changed files with 611 additions and 134 deletions
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simulate/main.cc
+9 -3
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@@ -337,7 +337,10 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.dropfilename, mnew, dnew, true);
sim.load(sim.dropfilename, mnew, dnew);
mj_deleteData(d);
mj_deleteModel(m);
m = mnew;
d = dnew;
@@ -356,7 +359,10 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.filename, mnew, dnew, true);
sim.load(sim.filename, mnew, dnew);
mj_deleteData(d);
mj_deleteModel(m);
m = mnew;
d = dnew;
@@ -482,7 +488,7 @@ void PhysicsThread(mj::Simulate* sim, const char* filename) {
m = LoadModel(filename, *sim);
if (m) d = mj_makeData(m);
if (d) {
sim->load(filename, m, d, true);
sim->load(filename, m, d);
mj_forward(m, d);
// allocate ctrlnoise