Baruch Tabanpour
07cda5a3c4
PiperOrigin-RevId: 875901011 Change-Id: I2ba0734d9ca001ff91361aab6412fe370919344b
41 lines
1.7 KiB
Python
41 lines
1.7 KiB
Python
# Copyright 2026 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""BVH helpers for MJX."""
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from typing import Any
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# pylint: disable=g-importing-member
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from mujoco.mjx._src.types import Data
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from mujoco.mjx._src.types import Impl
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from mujoco.mjx._src.types import Model
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# pylint: enable=g-importing-member
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import mujoco.mjx.warp as mjxw
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def refit_bvh(m: Model, d: Data, ctx: Any):
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"""Refit the scene BVH for the current pose."""
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if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
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import mujoco.mjx.warp.render_context as mjxw_rc # pylint: disable=g-import-not-at-top # pytype: disable=import-error
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from mujoco.mjx.warp import bvh as mjxw_bvh # pylint: disable=g-import-not-at-top # pytype: disable=import-error
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if not isinstance(ctx, mjxw_rc.RenderContextPytree):
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raise TypeError(
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f'Expected RenderContextPytree, got {type(ctx).__name__}.'
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' Use rc.pytree() to get the JAX-compatible handle.'
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)
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return mjxw_bvh.refit_bvh(m, d, ctx)
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raise NotImplementedError('refit_bvh only implemented for MuJoCo Warp.')
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