Alessio Quaglino
7e46e21ef3
This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin. PiperOrigin-RevId: 700006006 Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
1523 lines
60 KiB
C++
1523 lines
60 KiB
C++
// Copyright 2022 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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#include <stdalign.h>
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#include <array>
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#include <cstdint>
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#include <memory>
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#include <string>
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#include <optional>
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#include <Eigen/Core>
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#include <mujoco/mjxmacro.h>
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#include <mujoco/mujoco.h>
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#include "errors.h"
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#include "function_traits.h"
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#include "functions.h"
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#include "private.h"
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#include "raw.h"
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#include "structs.h"
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#include <pybind11/eigen.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/stl.h>
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namespace mujoco::python {
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namespace {
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PYBIND11_MODULE(_functions, pymodule) {
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namespace py = ::pybind11;
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namespace traits = python_traits;
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using EigenVectorI = Eigen::Vector<int, Eigen::Dynamic>;
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using EigenVectorX = Eigen::Vector<mjtNum, Eigen::Dynamic>;
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using EigenArrayXX = Eigen::Array<
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mjtNum, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
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// Import the _structs module so that pybind11 knows about Python bindings
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// for MjWrapper types and therefore generates prettier docstrings.
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py::module::import("mujoco._structs");
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// Virtual file system
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// Skipped entire section
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// Parse and compile
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// Skipped: mj_loadXML (have MjModel.from_xml_string)
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DEF_WITH_OMITTED_PY_ARGS(traits::mj_saveLastXML, "error", "error_sz")(
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pymodule,
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[](const char* filename, const mjModel* m) {
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std::array<char, 1024> error;
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int success = InterceptMjErrors(::mj_saveLastXML)(
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filename, m, error.data(), error.size());
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if (!success) {
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throw FatalError(std::string(error.data()));
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}
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});
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// Skipped: mj_freeLastXML
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DEF_WITH_OMITTED_PY_ARGS(traits::mj_printSchema,
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"filename", "buffer", "buffer_sz")(
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pymodule, [](bool flg_html, bool flg_pad) {
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constexpr int kBufferSize = 40000;
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auto buffer = std::unique_ptr<char[]>(new char[kBufferSize]);
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const int out_length = InterceptMjErrors(::mj_printSchema)(
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nullptr, buffer.get(), kBufferSize, flg_html, flg_pad);
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if (out_length >= kBufferSize) {
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throw UnexpectedError("output buffer too small");
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}
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return std::string(buffer.get(), out_length);
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});
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// Main simulation
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pymodule.def(
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"mj_step",
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InterceptMjErrors(
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[](const MjModelWrapper& m, MjDataWrapper& d, int nstep) {
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const raw::MjModel* const m_ptr = m.get();
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raw::MjData* const d_ptr = d.get();
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for (int i = 0; i < nstep; ++i) {
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::mj_step(m_ptr, d_ptr);
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}
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}),
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py::arg("m"), py::arg("d"), py::arg_v("nstep", 1),
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py::doc((std::string(traits::mj_step::doc) +
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std::string(" Optionally, repeat nstep times.")).c_str()),
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py::call_guard<py::gil_scoped_release>());
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Def<traits::mj_step1>(pymodule);
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Def<traits::mj_step2>(pymodule);
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Def<traits::mj_forward>(pymodule);
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Def<traits::mj_inverse>(pymodule);
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Def<traits::mj_forwardSkip>(pymodule);
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Def<traits::mj_inverseSkip>(pymodule);
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// Initialization
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Def<traits::mj_defaultLROpt>(pymodule);
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Def<traits::mj_defaultSolRefImp>(pymodule);
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Def<traits::mj_defaultOption>(pymodule);
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Def<traits::mj_defaultVisual>(pymodule);
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// Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel)
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pymodule.def(
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"mj_saveModel",
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[](const MjModelWrapper& m,
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const std::optional<std::string>& filename = std::nullopt,
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std::optional<Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>>
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buffer = std::nullopt) {
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void* buffer_ptr = nullptr;
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int buffer_sz = 0;
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if (buffer.has_value()) {
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buffer_ptr = buffer->data();
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buffer_sz = buffer->size();
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}
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return InterceptMjErrors(::mj_saveModel)(
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m.get(), filename.has_value() ? filename->c_str() : nullptr,
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buffer_ptr, buffer_sz);
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},
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py::arg("m"), py::arg_v("filename", std::nullopt),
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py::arg_v("buffer", std::nullopt), py::doc(traits::mj_saveModel::doc),
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py::call_guard<py::gil_scoped_release>());
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// Skipped: mj_loadModel (have MjModel.from_binary_path)
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// Skipped: mj_deleteModel (have MjModel.__del__)
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Def<traits::mj_sizeModel>(pymodule);
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// Skipped: mj_makeData (have MjData.__init__)
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// Skipped: mj_copyData (have MjData.__copy__, memory managed by MjData)
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Def<traits::mj_resetData>(pymodule);
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Def<traits::mj_resetDataDebug>(pymodule);
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Def<traits::mj_resetDataKeyframe>(pymodule);
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// Skipped: mj_stackAllocByte (doesn't make sense in Python)
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// Skipped: mj_deleteData (have MjData.__del__)
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Def<traits::mj_resetCallbacks>(pymodule);
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Def<traits::mj_setConst>(pymodule);
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DEF_WITH_OMITTED_PY_ARGS(traits::mj_setLengthRange, "error", "error_sz")(
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pymodule,
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[](raw::MjModel* m, raw::MjData* d, int index, const raw::MjLROpt* opt) {
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std::array<char, 1024> error;
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int success = InterceptMjErrors(::mj_setLengthRange)(
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m, d, index, opt, error.data(), error.size());
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if (!success) {
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throw FatalError(std::string(error.data()));
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}
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});
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// Printing
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Def<traits::mj_printFormattedModel>(pymodule);
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Def<traits::mj_printModel>(pymodule);
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Def<traits::mj_printFormattedData>(pymodule);
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Def<traits::mj_printData>(pymodule);
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DEF_WITH_OMITTED_PY_ARGS(traits::mju_printMat, "nr", "nc")(
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pymodule,
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[](Eigen::Ref<const EigenArrayXX> mat) {
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return ::mju_printMat(mat.data(), mat.rows(), mat.cols());
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});
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DEF_WITH_OMITTED_PY_ARGS(traits::mju_printMatSparse, "nr")(
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pymodule,
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[](Eigen::Ref<const EigenVectorX> mat,
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Eigen::Ref<const Eigen::Vector<int, Eigen::Dynamic>> rownnz,
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Eigen::Ref<const Eigen::Vector<int, Eigen::Dynamic>> rowadr,
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Eigen::Ref<const Eigen::Vector<int, Eigen::Dynamic>> colind) {
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if (rownnz.size() != rowadr.size()) {
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throw py::type_error("size of rownnz should equal size of rowadr");
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}
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const int nnz = rowadr[rowadr.size() - 1] + rownnz[rownnz.size() - 1];
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if (mat.size() != nnz) {
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throw py::type_error(
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"size of mat should equal rownnz[-1] + rowadr[-1]");
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}
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if (colind.size() != nnz) {
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throw py::type_error(
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"size of colind should equal rownnz[-1] + rowadr[-1]");
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}
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return InterceptMjErrors(::mju_printMatSparse)(
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mat.data(), rowadr.size(), rownnz.data(),
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rowadr.data(), colind.data());
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});
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// Components
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Def<traits::mj_fwdPosition>(pymodule);
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Def<traits::mj_fwdVelocity>(pymodule);
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Def<traits::mj_fwdActuation>(pymodule);
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Def<traits::mj_fwdAcceleration>(pymodule);
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Def<traits::mj_fwdConstraint>(pymodule);
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Def<traits::mj_Euler>(pymodule);
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Def<traits::mj_RungeKutta>(pymodule);
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Def<traits::mj_implicit>(pymodule);
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Def<traits::mj_invPosition>(pymodule);
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Def<traits::mj_invVelocity>(pymodule);
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Def<traits::mj_invConstraint>(pymodule);
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Def<traits::mj_compareFwdInv>(pymodule);
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// Sub components
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Def<traits::mj_sensorPos>(pymodule);
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Def<traits::mj_sensorVel>(pymodule);
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Def<traits::mj_sensorAcc>(pymodule);
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Def<traits::mj_energyPos>(pymodule);
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Def<traits::mj_energyVel>(pymodule);
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Def<traits::mj_checkPos>(pymodule);
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Def<traits::mj_checkVel>(pymodule);
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Def<traits::mj_checkAcc>(pymodule);
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Def<traits::mj_kinematics>(pymodule);
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Def<traits::mj_comPos>(pymodule);
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Def<traits::mj_camlight>(pymodule);
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Def<traits::mj_flex>(pymodule);
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Def<traits::mj_tendon>(pymodule);
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Def<traits::mj_transmission>(pymodule);
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Def<traits::mj_crb>(pymodule);
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Def<traits::mj_factorM>(pymodule);
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DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM, "n")(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenArrayXX> x,
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Eigen::Ref<const EigenArrayXX> y) {
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if (x.rows() != y.rows()) {
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throw py::type_error(
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"the first dimension of x and y should be of the same size");
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}
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if (x.cols() != m->nv) {
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throw py::type_error(
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"the last dimension of x should be of size nv");
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}
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if (y.cols() != m->nv) {
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throw py::type_error(
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"the last dimension of y should be of size nv");
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}
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return InterceptMjErrors(::mj_solveM)(
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m, d, x.data(), y.data(), y.rows());
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});
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DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM2, "n")(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenArrayXX> x,
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Eigen::Ref<const EigenArrayXX> y) {
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if (x.rows() != y.rows()) {
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throw py::type_error(
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"the first dimension of x and y should be of the same size");
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}
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if (x.cols() != m->nv) {
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throw py::type_error(
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"the last dimension of x should be of size nv");
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}
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if (y.cols() != m->nv) {
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throw py::type_error(
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"the last dimension of y should be of size nv");
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}
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return InterceptMjErrors(::mj_solveM2)(
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m, d, x.data(), y.data(), y.rows());
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});
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Def<traits::mj_comVel>(pymodule);
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Def<traits::mj_passive>(pymodule);
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Def<traits::mj_subtreeVel>(pymodule);
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Def<traits::mj_rne>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d, int flg_acc,
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Eigen::Ref<EigenVectorX> result) {
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if (result.size() != m->nv) {
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throw py::type_error("result should have length nv");
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}
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return InterceptMjErrors(::mj_rne)(
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m, d, flg_acc, result.data());
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});
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Def<traits::mj_rnePostConstraint>(pymodule);
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Def<traits::mj_collision>(pymodule);
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Def<traits::mj_makeConstraint>(pymodule);
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Def<traits::mj_island>(pymodule);
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Def<traits::mj_projectConstraint>(pymodule);
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Def<traits::mj_referenceConstraint>(pymodule);
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Def<traits::mj_constraintUpdate>(
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pymodule, [](const raw::MjModel* m, raw::MjData* d,
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Eigen::Ref<const EigenVectorX> jar,
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std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 1>>> cost,
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int flg_coneHessian) {
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if (jar.size() != d->nefc) {
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throw py::type_error("size of jar should equal nefc");
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}
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return InterceptMjErrors(::mj_constraintUpdate)(
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m, d, jar.data(), cost.has_value() ? cost->data() : nullptr,
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flg_coneHessian);
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});
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// Support
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Def<traits::mj_stateSize>(pymodule);
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Def<traits::mj_getState>(
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pymodule,
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[](const raw::MjModel* m, const raw::MjData* d,
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Eigen::Ref<EigenVectorX> state, unsigned int spec) {
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if (state.size() != mj_stateSize(m, spec)) {
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throw py::type_error("state size should equal mj_stateSize(m, spec)");
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}
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return InterceptMjErrors(::mj_getState)(m, d, state.data(), spec);
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});
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Def<traits::mj_setState>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d,
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const Eigen::Ref<EigenVectorX> state, unsigned int spec) {
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if (state.size() != mj_stateSize(m, spec)) {
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throw py::type_error("state size should equal mj_stateSize(m, spec)");
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}
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return InterceptMjErrors(::mj_setState)(m, d, state.data(), spec);
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});
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Def<traits::mj_setKeyframe>(pymodule);
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Def<traits::mj_addContact>(pymodule);
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Def<traits::mj_isPyramidal>(pymodule);
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Def<traits::mj_isSparse>(pymodule);
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Def<traits::mj_isDual>(pymodule);
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Def<traits::mj_mulJacVec>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenVectorX> res,
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Eigen::Ref<const EigenVectorX> vec) {
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if (res.size() != d->nefc) {
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throw py::type_error("res should be of length nefc");
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}
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if (vec.size() != m->nv) {
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throw py::type_error("vec should be of length nv");
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}
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return InterceptMjErrors(::mj_mulJacVec)(m, d, res.data(), vec.data());
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});
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Def<traits::mj_mulJacTVec>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenVectorX> res,
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Eigen::Ref<const EigenVectorX> vec) {
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if (res.size() != m->nv) {
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throw py::type_error("res should be of length nv");
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}
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if (vec.size() != d->nefc) {
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throw py::type_error("vec should be of length nefc");
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}
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return InterceptMjErrors(::mj_mulJacTVec)(m, d, res.data(), vec.data());
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});
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Def<traits::mj_jac>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d,
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std::optional<Eigen::Ref<EigenArrayXX>> jacp,
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std::optional<Eigen::Ref<EigenArrayXX>> jacr,
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const mjtNum (*point)[3], int body) {
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if (jacp.has_value() &&
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(jacp->rows() != 3 || jacp->cols() != m->nv)) {
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throw py::type_error("jacp should be of shape (3, nv)");
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}
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if (jacr.has_value() &&
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(jacr->rows() != 3 || jacr->cols() != m->nv)) {
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throw py::type_error("jacr should be of shape (3, nv)");
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}
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return InterceptMjErrors(::mj_jac)(
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m, d,
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jacp.has_value() ? jacp->data() : nullptr,
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jacr.has_value() ? jacr->data() : nullptr,
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&(*point)[0], body);
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});
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Def<traits::mj_jacBody>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d,
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std::optional<Eigen::Ref<EigenArrayXX>> jacp,
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std::optional<Eigen::Ref<EigenArrayXX>> jacr, int body) {
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if (jacp.has_value() &&
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(jacp->rows() != 3 || jacp->cols() != m->nv)) {
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throw py::type_error("jacp should be of shape (3, nv)");
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}
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if (jacr.has_value() &&
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(jacr->rows() != 3 || jacr->cols() != m->nv)) {
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throw py::type_error("jacr should be of shape (3, nv)");
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}
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return InterceptMjErrors(::mj_jacBody)(
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m, d, jacp.has_value() ? jacp->data() : nullptr,
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jacr.has_value() ? jacr->data() : nullptr, body);
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});
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Def<traits::mj_jacBodyCom>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d,
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std::optional<Eigen::Ref<EigenArrayXX>> jacp,
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std::optional<Eigen::Ref<EigenArrayXX>> jacr, int body) {
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if (jacp.has_value() &&
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(jacp->rows() != 3 || jacp->cols() != m->nv)) {
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throw py::type_error("jacp should be of shape (3, nv)");
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}
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if (jacr.has_value() &&
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(jacr->rows() != 3 || jacr->cols() != m->nv)) {
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throw py::type_error("jacr should be of shape (3, nv)");
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}
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return InterceptMjErrors(::mj_jacBodyCom)(
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m, d, jacp.has_value() ? jacp->data() : nullptr,
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jacr.has_value() ? jacr->data() : nullptr, body);
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});
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Def<traits::mj_jacSubtreeCom>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d,
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std::optional<Eigen::Ref<EigenArrayXX>> jacp, int body) {
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if (jacp.has_value() &&
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(jacp->rows() != 3 || jacp->cols() != m->nv)) {
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throw py::type_error("jacp should be of shape (3, nv)");
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}
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return InterceptMjErrors(::mj_jacSubtreeCom)(
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m, d, jacp.has_value() ? jacp->data() : nullptr, body);
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});
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Def<traits::mj_jacGeom>(
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pymodule,
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[](const raw::MjModel* m, raw::MjData* d,
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std::optional<Eigen::Ref<EigenArrayXX>> jacp,
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std::optional<Eigen::Ref<EigenArrayXX>> jacr, int geom) {
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if (jacp.has_value() &&
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(jacp->rows() != 3 || jacp->cols() != m->nv)) {
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throw py::type_error("jacp should be of shape (3, nv)");
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|
}
|
|
if (jacr.has_value() &&
|
|
(jacr->rows() != 3 || jacr->cols() != m->nv)) {
|
|
throw py::type_error("jacr should be of shape (3, nv)");
|
|
}
|
|
return InterceptMjErrors(::mj_jacGeom)(
|
|
m, d, jacp.has_value() ? jacp->data() : nullptr,
|
|
jacr.has_value() ? jacr->data() : nullptr, geom);
|
|
});
|
|
Def<traits::mj_jacSite>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> jacp,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> jacr, int site) {
|
|
if (jacp.has_value() &&
|
|
(jacp->rows() != 3 || jacp->cols() != m->nv)) {
|
|
throw py::type_error("jacp should be of shape (3, nv)");
|
|
}
|
|
if (jacr.has_value() &&
|
|
(jacr->rows() != 3 || jacr->cols() != m->nv)) {
|
|
throw py::type_error("jacr should be of shape (3, nv)");
|
|
}
|
|
return InterceptMjErrors(::mj_jacSite)(
|
|
m, d, jacp.has_value() ? jacp->data() : nullptr,
|
|
jacr.has_value() ? jacr->data() : nullptr, site);
|
|
});
|
|
Def<traits::mj_jacPointAxis>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> jacp,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> jacr,
|
|
const mjtNum (*point)[3], const mjtNum (*axis)[3], int body) {
|
|
if (jacp.has_value() &&
|
|
(jacp->rows() != 3 || jacp->cols() != m->nv)) {
|
|
throw py::type_error("jacp should be of shape (3, nv)");
|
|
}
|
|
if (jacr.has_value() &&
|
|
(jacr->rows() != 3 || jacr->cols() != m->nv)) {
|
|
throw py::type_error("jacr should be of shape (3, nv)");
|
|
}
|
|
return InterceptMjErrors(::mj_jacPointAxis)(
|
|
m, d, jacp.has_value() ? jacp->data() : nullptr,
|
|
jacr.has_value() ? jacr->data() : nullptr,
|
|
&(*point)[0], &(*axis)[0], body);
|
|
});
|
|
Def<traits::mj_jacDot>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> jacp,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> jacr,
|
|
const mjtNum (*point)[3], int body) {
|
|
if (jacp.has_value() &&
|
|
(jacp->rows() != 3 || jacp->cols() != m->nv)) {
|
|
throw py::type_error("jacp should be of shape (3, nv)");
|
|
}
|
|
if (jacr.has_value() &&
|
|
(jacr->rows() != 3 || jacr->cols() != m->nv)) {
|
|
throw py::type_error("jacr should be of shape (3, nv)");
|
|
}
|
|
return InterceptMjErrors(::mj_jacDot)(
|
|
m, d,
|
|
jacp.has_value() ? jacp->data() : nullptr,
|
|
jacr.has_value() ? jacr->data() : nullptr,
|
|
&(*point)[0], body);
|
|
});
|
|
Def<traits::mj_angmomMat>(
|
|
pymodule, [](const raw::MjModel* m, raw::MjData* d,
|
|
Eigen::Ref<EigenArrayXX> mat, int body) {
|
|
if (mat.rows() != 3 || mat.cols() != m->nv) {
|
|
throw py::type_error("mat should be of shape (3, nv)");
|
|
}
|
|
return InterceptMjErrors(::mj_angmomMat)(m, d, mat.data(), body);
|
|
});
|
|
Def<traits::mj_name2id>(pymodule);
|
|
Def<traits::mj_id2name>(pymodule);
|
|
Def<traits::mj_fullM>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, Eigen::Ref<EigenArrayXX> dst,
|
|
Eigen::Ref<const EigenVectorX> M) {
|
|
if (M.size() != m->nM) {
|
|
throw py::type_error("M should be of size nM");
|
|
}
|
|
if (dst.cols() != m->nv || dst.rows() != m->nv) {
|
|
throw py::type_error("dst should be of shape (nv, nv)");
|
|
}
|
|
return ::mj_fullM(m, dst.data(), M.data());
|
|
});
|
|
Def<traits::mj_mulM>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, const raw::MjData* d,
|
|
Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != m->nv) {
|
|
throw py::type_error("res should be of size nv");
|
|
}
|
|
if (vec.size() != m->nv) {
|
|
throw py::type_error("vec should be of size nv");
|
|
}
|
|
return InterceptMjErrors(::mj_mulM)(m, d, res.data(), vec.data());
|
|
});
|
|
Def<traits::mj_mulM2>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, const raw::MjData* d,
|
|
Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != m->nv) {
|
|
throw py::type_error("res should be of size nv");
|
|
}
|
|
if (vec.size() != m->nv) {
|
|
throw py::type_error("vec should be of size nv");
|
|
}
|
|
return InterceptMjErrors(::mj_mulM2)(m, d, res.data(), vec.data());
|
|
});
|
|
Def<traits::mj_addM>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenVectorX> dst,
|
|
Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> rownnz,
|
|
Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> rowadr,
|
|
Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> colind) {
|
|
if (dst.size() != m->nM) {
|
|
throw py::type_error("dst should be of size nM");
|
|
}
|
|
if (rownnz.size() != m->nv) {
|
|
throw py::type_error("rownnz should be of size nv");
|
|
}
|
|
if (rowadr.size() != m->nv) {
|
|
throw py::type_error("rowadr should be of size nv");
|
|
}
|
|
if (colind.size() != m->nM) {
|
|
throw py::type_error("colind should be of size nM");
|
|
}
|
|
return InterceptMjErrors(::mj_addM)(
|
|
m, d, dst.data(), rownnz.data(), rowadr.data(), colind.data());
|
|
});
|
|
Def<traits::mj_applyFT>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d,
|
|
const mjtNum (*force)[3], const mjtNum (*torque)[3],
|
|
const mjtNum (*point)[3], int body,
|
|
Eigen::Ref<EigenVectorX> qfrc_target) {
|
|
if (qfrc_target.size() != m->nv) {
|
|
throw py::type_error("qfrc_target should be of size nv");
|
|
}
|
|
return InterceptMjErrors(::mj_applyFT)(
|
|
m, d, &(*force)[0], &(*torque)[0], &(*point)[0],
|
|
body, qfrc_target.data());
|
|
});
|
|
Def<traits::mj_objectVelocity>(pymodule);
|
|
Def<traits::mj_objectAcceleration>(pymodule);
|
|
Def<traits::mj_contactForce>(pymodule);
|
|
Def<traits::mj_geomDistance>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, const raw::MjData* d,
|
|
int geom1, int geom2, mjtNum distmax,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> fromto) {
|
|
if (fromto.has_value() && fromto->size() != 6) {
|
|
throw py::type_error("fromto should be of size 6");
|
|
}
|
|
return InterceptMjErrors(::mj_geomDistance)(
|
|
m, d, geom1, geom2, distmax,
|
|
fromto.has_value() ? fromto->data() : nullptr);
|
|
});
|
|
Def<traits::mj_differentiatePos>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, Eigen::Ref<EigenVectorX> qvel,
|
|
mjtNum dt, Eigen::Ref<const EigenVectorX> qpos1,
|
|
Eigen::Ref<const EigenVectorX> qpos2) {
|
|
if (qvel.size() != m->nv) {
|
|
throw py::type_error("qvel should be of size nv");
|
|
}
|
|
if (qpos1.size() != m->nq) {
|
|
throw py::type_error("qpos1 should be of size nq");
|
|
}
|
|
if (qpos2.size() != m->nq) {
|
|
throw py::type_error("qpos2 should be of size nq");
|
|
}
|
|
return InterceptMjErrors(::mj_differentiatePos)(
|
|
m, qvel.data(), dt, qpos1.data(), qpos2.data());
|
|
});
|
|
Def<traits::mj_integratePos>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, Eigen::Ref<EigenVectorX> qpos,
|
|
Eigen::Ref<const EigenVectorX> qvel, mjtNum dt) {
|
|
if (qpos.size() != m->nq) {
|
|
throw py::type_error("qpos should be of size nq");
|
|
}
|
|
if (qvel.size() != m->nv) {
|
|
throw py::type_error("qvel should be of size nv");
|
|
}
|
|
return InterceptMjErrors(::mj_integratePos)(
|
|
m, qpos.data(), qvel.data(), dt);
|
|
});
|
|
Def<traits::mj_normalizeQuat>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, Eigen::Ref<EigenVectorX> qpos) {
|
|
if (qpos.size() != m->nq) {
|
|
throw py::type_error("qpos should be of size nq");
|
|
}
|
|
return InterceptMjErrors(::mj_normalizeQuat)(m, qpos.data());
|
|
});
|
|
Def<traits::mj_local2Global>(pymodule);
|
|
Def<traits::mj_getTotalmass>(pymodule);
|
|
Def<traits::mj_setTotalmass>(pymodule);
|
|
Def<traits::mj_loadPluginLibrary>(pymodule);
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mj_loadAllPluginLibraries, "callback")(
|
|
pymodule,
|
|
[](const std::string& directory) {
|
|
InterceptMjErrors(::mj_loadAllPluginLibraries)(
|
|
directory.c_str(), nullptr);
|
|
});
|
|
Def<traits::mj_version>(pymodule);
|
|
Def<traits::mj_versionString>(pymodule);
|
|
|
|
// Ray collision
|
|
Def<traits::mj_multiRay>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d, const mjtNum(*pnt)[3],
|
|
Eigen::Ref<const EigenVectorX> vec,
|
|
std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
|
|
geomgroup,
|
|
mjtByte flg_static, int bodyexclude, Eigen::Ref<EigenVectorI> geomid,
|
|
Eigen::Ref<EigenVectorX> dist, int nray, mjtNum cutoff) {
|
|
if (dist.size() != nray || geomid.size() != nray) {
|
|
throw py::type_error("dist and geomid should be of size nray");
|
|
}
|
|
if (vec.size() != 3 * nray) {
|
|
throw py::type_error("vec should be of size 3*nray");
|
|
}
|
|
InterceptMjErrors(::mj_multiRay)(
|
|
m, d, &(*pnt)[0], vec.data(),
|
|
geomgroup.has_value() ? geomgroup->data() : nullptr, flg_static,
|
|
bodyexclude, geomid.data(), dist.data(), nray, cutoff);
|
|
});
|
|
Def<traits::mj_ray>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, const raw::MjData* d, const mjtNum(*pnt)[3],
|
|
const mjtNum(*vec)[3],
|
|
std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
|
|
geomgroup,
|
|
mjtByte flg_static, int bodyexclude, int(*geomid)[1]) {
|
|
return mj_ray(m, d, &(*pnt)[0], &(*vec)[0],
|
|
geomgroup.has_value() ? geomgroup->data() : nullptr,
|
|
flg_static, bodyexclude, &(*geomid)[0]);
|
|
});
|
|
Def<traits::mj_rayHfield>(pymodule);
|
|
Def<traits::mj_rayMesh>(pymodule);
|
|
Def<traits::mju_rayGeom>(pymodule);
|
|
Def<traits::mju_rayFlex>(pymodule);
|
|
Def<traits::mju_raySkin>(pymodule);
|
|
|
|
// Interaction
|
|
Def<traits::mjv_defaultCamera>(pymodule);
|
|
Def<traits::mjv_defaultFreeCamera>(pymodule);
|
|
Def<traits::mjv_defaultPerturb>(pymodule);
|
|
Def<traits::mjv_room2model>(pymodule);
|
|
Def<traits::mjv_model2room>(pymodule);
|
|
Def<traits::mjv_cameraInModel>(pymodule);
|
|
Def<traits::mjv_cameraInRoom>(pymodule);
|
|
Def<traits::mjv_frustumHeight>(pymodule);
|
|
Def<traits::mjv_alignToCamera>(pymodule);
|
|
Def<traits::mjv_moveCamera>(pymodule);
|
|
Def<traits::mjv_movePerturb>(pymodule);
|
|
Def<traits::mjv_moveModel>(pymodule);
|
|
Def<traits::mjv_initPerturb>(pymodule);
|
|
Def<traits::mjv_applyPerturbPose>(pymodule);
|
|
Def<traits::mjv_applyPerturbForce>(pymodule);
|
|
// Skipped: mjv_averageCamera (defined in structs.cc due to the return type)
|
|
Def<traits::mjv_select>(pymodule);
|
|
|
|
// Visualization
|
|
Def<traits::mjv_defaultOption>(pymodule);
|
|
Def<traits::mjv_defaultFigure>(pymodule);
|
|
Def<traits::mjv_initGeom>(pymodule);
|
|
Def<traits::mjv_connector>(pymodule);
|
|
// Skipped: mjv_defaultScene (have MjvScene.__init__, memory managed by
|
|
// MjvScene).
|
|
// Skipped: mjv_makeScene (have MjvScene.__init__)
|
|
// Skipped: mjv_freeScene (have MjvScene.__del__)
|
|
Def<traits::mjv_updateScene>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d, const raw::MjvOption* opt,
|
|
const std::optional<raw::MjvPerturb*> pert, raw::MjvCamera* cam,
|
|
int catmask, raw::MjvScene* scn) {
|
|
const raw::MjvPerturb* pert_ptr = pert.has_value() ? *pert : nullptr;
|
|
return mjv_updateScene(m, d, opt, pert_ptr, cam, catmask, scn);
|
|
});
|
|
Def<traits::mjv_addGeoms>(pymodule);
|
|
Def<traits::mjv_makeLights>(pymodule);
|
|
Def<traits::mjv_updateCamera>(pymodule);
|
|
Def<traits::mjv_updateSkin>(pymodule);
|
|
|
|
// UI framework
|
|
// Skipped: entire section (can add this if there's demand)
|
|
|
|
// Error and memory
|
|
// Skipped: everything other than the function below (Python has exceptions)
|
|
Def<traits::mju_writeLog>(pymodule);
|
|
|
|
// Standard math
|
|
// This section consists only of preprocessor macros.
|
|
|
|
// Vector math
|
|
Def<traits::mju_zero3>(pymodule);
|
|
Def<traits::mju_copy3>(pymodule);
|
|
Def<traits::mju_scl3>(pymodule);
|
|
Def<traits::mju_add3>(pymodule);
|
|
Def<traits::mju_sub3>(pymodule);
|
|
Def<traits::mju_addTo3>(pymodule);
|
|
Def<traits::mju_subFrom3>(pymodule);
|
|
Def<traits::mju_addToScl3>(pymodule);
|
|
Def<traits::mju_addScl3>(pymodule);
|
|
Def<traits::mju_normalize3>(pymodule);
|
|
Def<traits::mju_norm3>(pymodule);
|
|
Def<traits::mju_dot3>(pymodule);
|
|
Def<traits::mju_dist3>(pymodule);
|
|
Def<traits::mju_mulMatVec3>(pymodule);
|
|
Def<traits::mju_mulMatTVec3>(pymodule);
|
|
Def<traits::mju_cross>(pymodule);
|
|
Def<traits::mju_zero4>(pymodule);
|
|
Def<traits::mju_unit4>(pymodule);
|
|
Def<traits::mju_copy4>(pymodule);
|
|
Def<traits::mju_normalize4>(pymodule);
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_zero, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res) {
|
|
return InterceptMjErrors(::mju_zero)(res.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_fill, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res, mjtNum val) {
|
|
return InterceptMjErrors(::mju_fill)(res.data(), val, res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_copy, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> data) {
|
|
if (res.size() != data.size()) {
|
|
throw py::type_error("res and data should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_copy)(
|
|
res.data(), data.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_sum, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> vec) {
|
|
return ::mju_sum(vec.data(), vec.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_L1, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> vec) {
|
|
return InterceptMjErrors(::mju_L1)(vec.data(), vec.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_scl, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> vec, mjtNum scl) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_scl)(
|
|
res.data(), vec.data(), scl, res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_add, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> vec1,
|
|
Eigen::Ref<const EigenVectorX> vec2) {
|
|
if (res.size() != vec1.size()) {
|
|
throw py::type_error("res and vec1 should have the same size");
|
|
}
|
|
if (res.size() != vec2.size()) {
|
|
throw py::type_error("res and vec2 should have the same size");
|
|
}
|
|
return ::mju_add(res.data(), vec1.data(), vec2.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_sub, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> vec1,
|
|
Eigen::Ref<const EigenVectorX> vec2) {
|
|
if (res.size() != vec1.size()) {
|
|
throw py::type_error("res and vec1 should have the same size");
|
|
}
|
|
if (res.size() != vec2.size()) {
|
|
throw py::type_error("res and vec2 should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_sub)(
|
|
res.data(), vec1.data(), vec2.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_addTo, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_addTo)(
|
|
res.data(), vec.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_subFrom, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_subFrom)(
|
|
res.data(), vec.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_addToScl, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> vec, mjtNum scl) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return ::mju_addToScl(res.data(), vec.data(), scl, res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_addScl, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenVectorX> vec1,
|
|
Eigen::Ref<const EigenVectorX> vec2, mjtNum scl) {
|
|
if (res.size() != vec1.size()) {
|
|
throw py::type_error("res and vec1 should have the same size");
|
|
}
|
|
if (res.size() != vec2.size()) {
|
|
throw py::type_error("res and vec2 should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_addScl)(
|
|
res.data(), vec1.data(), vec2.data(), scl, res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_normalize, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> vec) {
|
|
return InterceptMjErrors(::mju_normalize)(vec.data(), vec.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_norm, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<const EigenVectorX> vec) {
|
|
return InterceptMjErrors(::mju_norm)(vec.data(), vec.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_dot, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<const EigenVectorX> vec1,
|
|
Eigen::Ref<const EigenVectorX> vec2) {
|
|
if (vec1.size() != vec2.size()) {
|
|
throw py::type_error("vec1 and vec2 should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_dot)(
|
|
vec1.data(), vec2.data(), vec1.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatVec, "nr", "nc")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat,
|
|
Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != mat.rows()) {
|
|
throw py::type_error(
|
|
"size of res should equal the number of rows in mat");
|
|
}
|
|
if (vec.size() != mat.cols()) {
|
|
throw py::type_error(
|
|
"size of vec should equal the number of columns in mat");
|
|
}
|
|
return InterceptMjErrors(::mju_mulMatVec)(
|
|
res.data(), mat.data(), vec.data(), mat.rows(), mat.cols());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatTVec, "nr", "nc")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat,
|
|
Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != mat.cols()) {
|
|
throw py::type_error(
|
|
"size of res should equal the number of columns in mat");
|
|
}
|
|
if (vec.size() != mat.rows()) {
|
|
throw py::type_error(
|
|
"size of vec should equal the number of rows in mat");
|
|
}
|
|
return InterceptMjErrors(::mju_mulMatTVec)(
|
|
res.data(), mat.data(), vec.data(), mat.rows(), mat.cols());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulVecMatVec, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<const EigenVectorX> vec1,
|
|
Eigen::Ref<const EigenArrayXX> mat,
|
|
Eigen::Ref<const EigenVectorX> vec2) {
|
|
if (vec1.size() != vec2.size()) {
|
|
throw py::type_error(
|
|
"size of vec1 should equal the size of vec2");
|
|
}
|
|
if (vec1.size() != mat.cols()) {
|
|
throw py::type_error(
|
|
"size of vectors should equal the number of columns in mat");
|
|
}
|
|
if (vec1.size() != mat.rows()) {
|
|
throw py::type_error(
|
|
"size of vectors should equal the number of rows in mat");
|
|
}
|
|
return InterceptMjErrors(::mju_mulVecMatVec)(
|
|
vec1.data(), mat.data(), vec2.data(), vec1.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_transpose, "nr", "nc")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat) {
|
|
if (res.cols() != mat.rows()) {
|
|
throw py::type_error("#columns in res should equal #rows in mat");
|
|
}
|
|
if (res.rows() != mat.cols()) {
|
|
throw py::type_error("#rows in res should equal #columns in mat");
|
|
}
|
|
return InterceptMjErrors(::mju_transpose)(
|
|
res.data(), mat.data(), mat.rows(), mat.cols());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_symmetrize, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat) {
|
|
if (mat.cols() != mat.rows()) {
|
|
throw py::type_error("mat should be square");
|
|
}
|
|
if (res.cols() != mat.cols() || res.rows() != mat.rows()) {
|
|
throw py::type_error("res and mat should have the same shape");
|
|
}
|
|
return InterceptMjErrors(::mju_symmetrize)(
|
|
res.data(), mat.data(), mat.rows());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_eye, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> mat) {
|
|
if (mat.cols() != mat.rows()) {
|
|
throw py::type_error("mat should be square");
|
|
}
|
|
return InterceptMjErrors(::mju_eye)(mat.data(), mat.rows());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatMat, "r1", "c1", "c2")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat1,
|
|
Eigen::Ref<const EigenArrayXX> mat2) {
|
|
if (res.rows() != mat1.rows()) {
|
|
throw py::type_error("#rows in res should equal #rows in mat1");
|
|
}
|
|
if (res.cols() != mat2.cols()) {
|
|
throw py::type_error(
|
|
"#columns in res should equal #columns in mat2");
|
|
}
|
|
if (mat1.cols() != mat2.rows()) {
|
|
throw py::type_error("#columns in mat1 should equal #rows in mat2");
|
|
}
|
|
return InterceptMjErrors(::mju_mulMatMat)(
|
|
res.data(), mat1.data(), mat2.data(),
|
|
mat1.rows(), mat1.cols(), mat2.cols());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatMatT, "r1", "c1", "r2")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat1,
|
|
Eigen::Ref<const EigenArrayXX> mat2) {
|
|
if (res.rows() != mat1.rows()) {
|
|
throw py::type_error("#rows in res should equal #rows in mat1");
|
|
}
|
|
if (res.cols() != mat2.rows()) {
|
|
throw py::type_error("#columns in res should equal #rows in mat2");
|
|
}
|
|
if (mat1.cols() != mat2.cols()) {
|
|
throw py::type_error(
|
|
"#columns in mat1 should equal #columns in mat2");
|
|
}
|
|
return InterceptMjErrors(::mju_mulMatMatT)(
|
|
res.data(), mat1.data(), mat2.data(),
|
|
mat1.rows(), mat1.cols(), mat2.rows());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatTMat, "r1", "c1", "c2")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat1,
|
|
Eigen::Ref<const EigenArrayXX> mat2) {
|
|
if (res.rows() != mat1.cols()) {
|
|
throw py::type_error("#rows in res should equal #columns in mat1");
|
|
}
|
|
if (res.cols() != mat2.cols()) {
|
|
throw py::type_error(
|
|
"#columns in res should equal #columns in mat2");
|
|
}
|
|
if (mat1.rows() != mat2.rows()) {
|
|
throw py::type_error("#rows in mat1 should equal #rows in mat2");
|
|
}
|
|
return ::mju_mulMatTMat(res.data(), mat1.data(), mat2.data(),
|
|
mat1.rows(), mat1.cols(), mat2.cols());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_sqrMatTD, "nr", "nc")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat,
|
|
std::optional<Eigen::Ref<EigenVectorX>> diag) {
|
|
if (res.rows() != mat.cols()) {
|
|
throw py::type_error("#rows in res should equal #columns in mat");
|
|
}
|
|
if (res.cols() != mat.cols()) {
|
|
throw py::type_error("#rows in res should equal #columns in mat");
|
|
}
|
|
if (diag.has_value() && diag->size() != mat.rows()) {
|
|
throw py::type_error(
|
|
"size of diag should equal the number of rows in mat");
|
|
}
|
|
return InterceptMjErrors(::mju_sqrMatTD)(
|
|
res.data(), mat.data(),
|
|
diag.has_value() ? diag->data() : nullptr,
|
|
mat.rows(), mat.cols());
|
|
});
|
|
Def<traits::mju_transformSpatial>(pymodule);
|
|
|
|
// Sparse math
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_dense2sparse, "nr", "nc", "nnz")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenArrayXX> mat,
|
|
Eigen::Ref<EigenVectorI> rownnz, Eigen::Ref<EigenVectorI> rowadr,
|
|
Eigen::Ref<EigenVectorI> colind) {
|
|
if (mat.rows() != rownnz.size()) {
|
|
throw py::type_error("#rows in mat should equal size of rownnz");
|
|
}
|
|
if (mat.rows() != rowadr.size()) {
|
|
throw py::type_error("#rows in mat should equal size of rowadr");
|
|
}
|
|
if (res.size() != colind.size()) {
|
|
throw py::type_error("#size of res should equal size of colind");
|
|
}
|
|
return ::mju_dense2sparse(res.data(), mat.data(), mat.rows(),
|
|
mat.cols(), rownnz.data(), rowadr.data(),
|
|
colind.data(), res.size());
|
|
});
|
|
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_sparse2dense, "nr", "nc")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res,
|
|
Eigen::Ref<const EigenVectorX> mat,
|
|
Eigen::Ref<const EigenVectorI> rownnz,
|
|
Eigen::Ref<const EigenVectorI> rowadr,
|
|
Eigen::Ref<const EigenVectorI> colind) {
|
|
if (res.rows() != rownnz.size()) {
|
|
throw py::type_error("#rows in res should equal size of rownnz");
|
|
}
|
|
if (res.rows() != rowadr.size()) {
|
|
throw py::type_error("#rows in res should equal size of rowadr");
|
|
}
|
|
return ::mju_sparse2dense(res.data(), mat.data(), res.rows(),
|
|
res.cols(), rownnz.data(), rowadr.data(),
|
|
colind.data());
|
|
});
|
|
|
|
// Quaternions
|
|
Def<traits::mju_rotVecQuat>(pymodule);
|
|
Def<traits::mju_negQuat>(pymodule);
|
|
Def<traits::mju_mulQuat>(pymodule);
|
|
Def<traits::mju_mulQuatAxis>(pymodule);
|
|
Def<traits::mju_axisAngle2Quat>(pymodule);
|
|
Def<traits::mju_quat2Vel>(pymodule);
|
|
Def<traits::mju_subQuat>(pymodule);
|
|
Def<traits::mju_quat2Mat>(pymodule);
|
|
Def<traits::mju_mat2Quat>(pymodule);
|
|
Def<traits::mju_derivQuat>(pymodule);
|
|
Def<traits::mju_quatIntegrate>(pymodule);
|
|
Def<traits::mju_quatZ2Vec>(pymodule);
|
|
Def<traits::mju_mat2Rot>(pymodule);
|
|
Def<traits::mju_euler2Quat>(pymodule);
|
|
|
|
// Poses
|
|
Def<traits::mju_mulPose>(pymodule);
|
|
Def<traits::mju_negPose>(pymodule);
|
|
Def<traits::mju_trnVecPose>(pymodule);
|
|
|
|
// Decompositions
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_cholFactor, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> mat, mjtNum mindiag) {
|
|
if (mat.rows() != mat.cols()) {
|
|
throw py::type_error("mat should be a square matrix");
|
|
}
|
|
return InterceptMjErrors(::mju_cholFactor)(
|
|
mat.data(), mat.rows(), mindiag);
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_cholSolve, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat,
|
|
Eigen::Ref<const EigenVectorX> vec) {
|
|
if (mat.rows() != mat.cols()) {
|
|
throw py::type_error("mat should be a square matrix");
|
|
}
|
|
if (res.size() != mat.rows()) {
|
|
throw py::type_error(
|
|
"size of res should equal the number of rows in mat");
|
|
}
|
|
if (vec.size() != mat.cols()) {
|
|
throw py::type_error(
|
|
"size of vec should equal the number of rows in mat");
|
|
}
|
|
return InterceptMjErrors(::mju_cholSolve)(
|
|
res.data(), mat.data(), vec.data(), mat.rows());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_cholUpdate, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> mat, Eigen::Ref<EigenVectorX> x,
|
|
int flg_plus) {
|
|
if (mat.rows() != mat.cols()) {
|
|
throw py::type_error("mat should be a square matrix");
|
|
}
|
|
if (x.size() != mat.rows()) {
|
|
throw py::type_error(
|
|
"size of x should equal the number of rows in mat");
|
|
}
|
|
return InterceptMjErrors(::mju_cholUpdate)(
|
|
mat.data(), x.data(), mat.rows(), flg_plus);
|
|
});
|
|
Def<traits::mju_cholFactorBand>(
|
|
pymodule, [](Eigen::Ref<EigenVectorX> mat, int ntotal, int nband,
|
|
int ndense, mjtNum diagadd, mjtNum diagmul) {
|
|
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
|
|
if (mat.size() != nMat) {
|
|
throw py::type_error(
|
|
"mat must have size (ntotal-ndense)*nband + ndense*ntotal");
|
|
}
|
|
return InterceptMjErrors(::mju_cholFactorBand)(
|
|
mat.data(), ntotal, nband, ndense, diagadd, diagmul);
|
|
});
|
|
Def<traits::mju_cholSolveBand>(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenVectorX> mat,
|
|
Eigen::Ref<const EigenVectorX> vec, int ntotal, int nband,
|
|
int ndense) {
|
|
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
|
|
if (mat.size() != nMat) {
|
|
throw py::type_error(
|
|
"mat must have (ntotal-ndense)*nband + "
|
|
"ndense*ntotal elements");
|
|
}
|
|
if (res.size() != ntotal) {
|
|
throw py::type_error("size of res should equal ntotal");
|
|
}
|
|
if (vec.size() != ntotal) {
|
|
throw py::type_error("size of vec should equal ntotal");
|
|
}
|
|
return InterceptMjErrors(::mju_cholSolveBand)(
|
|
res.data(), mat.data(), vec.data(), ntotal, nband, ndense);
|
|
});
|
|
Def<traits::mju_band2Dense>(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenArrayXX> res, Eigen::Ref<const EigenVectorX> mat,
|
|
int ntotal, int nband, int ndense, mjtByte flg_sym) {
|
|
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
|
|
if (mat.size() != nMat) {
|
|
throw py::type_error(
|
|
"mat must have size (ntotal-ndense)*nband + ndense*ntotal");
|
|
}
|
|
if (res.rows() != ntotal) {
|
|
throw py::type_error("res should have ntotal rows");
|
|
}
|
|
if (res.cols() != ntotal) {
|
|
throw py::type_error("res should have ntotal columns");
|
|
}
|
|
return InterceptMjErrors(::mju_band2Dense)(
|
|
res.data(), mat.data(), ntotal, nband, ndense, flg_sym);
|
|
});
|
|
Def<traits::mju_dense2Band>(pymodule, [](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const EigenArrayXX> mat,
|
|
int ntotal, int nband, int ndense) {
|
|
int nRes = (ntotal - ndense) * nband + ndense * ntotal;
|
|
if (res.size() != nRes) {
|
|
throw py::type_error(
|
|
"res must have size (ntotal-ndense)*nband + ndense*ntotal");
|
|
}
|
|
if (mat.rows() != ntotal) {
|
|
throw py::type_error("mat should have ntotal rows");
|
|
}
|
|
if (mat.cols() != ntotal) {
|
|
throw py::type_error("mat should have ntotal columns");
|
|
}
|
|
return InterceptMjErrors(::mju_dense2Band)(res.data(), mat.data(), ntotal,
|
|
nband, ndense);
|
|
});
|
|
Def<traits::mju_bandMulMatVec>(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenArrayXX> mat,
|
|
Eigen::Ref<const EigenArrayXX> vec, int ntotal, int nband, int ndense,
|
|
int nVec, mjtByte flg_sym) {
|
|
int nMat = (ntotal - ndense) * nband + ndense * ntotal;
|
|
if (mat.size() != nMat) {
|
|
throw py::type_error(
|
|
"mat must have size (ntotal-ndense)*nband + ndense*ntotal");
|
|
}
|
|
if (res.rows() != ntotal) {
|
|
throw py::type_error("res should have ntotal rows");
|
|
}
|
|
if (res.cols() != nVec) {
|
|
throw py::type_error("res should have nVec columns");
|
|
}
|
|
if (vec.rows() != ntotal) {
|
|
throw py::type_error("vec should have ntotal rows");
|
|
}
|
|
if (vec.cols() != nVec) {
|
|
throw py::type_error("vec should have nVec columns");
|
|
}
|
|
return InterceptMjErrors(::mju_bandMulMatVec)(res.data(), mat.data(),
|
|
vec.data(), ntotal, nband,
|
|
ndense, nVec, flg_sym);
|
|
});
|
|
Def<traits::mju_bandDiag>(pymodule);
|
|
Def<traits::mju_eig3>(pymodule);
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_boxQP, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<EigenArrayXX> R,
|
|
std::optional<Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>>> index,
|
|
Eigen::Ref<const EigenArrayXX> H,
|
|
Eigen::Ref<const EigenVectorX> g,
|
|
std::optional<Eigen::Ref<const EigenVectorX>> lower,
|
|
std::optional<Eigen::Ref<const EigenVectorX>> upper) {
|
|
int n = res.size();
|
|
if (R.size() != n*(n+7)) {
|
|
throw py::type_error("size of R should be n*(n+7)");
|
|
}
|
|
if (index.has_value() && (index->size() != n)) {
|
|
throw py::type_error("size of index should equal n");
|
|
}
|
|
if (H.rows() != n || H.cols() != n) {
|
|
throw py::type_error("H should be of shape (n, n)");
|
|
}
|
|
if (g.size() != n) {
|
|
throw py::type_error("size of g should equal n");
|
|
}
|
|
if (lower.has_value() && (lower->size() != n)) {
|
|
throw py::type_error("size of lower should equal n");
|
|
}
|
|
if (upper.has_value() && (upper->size() != n)) {
|
|
throw py::type_error("size of upper should equal n");
|
|
}
|
|
return InterceptMjErrors(::mju_boxQP)(
|
|
res.data(), R.data(),
|
|
index.has_value() ? index->data() : nullptr,
|
|
H.data(), g.data(), n,
|
|
lower.has_value() ? lower->data() : nullptr,
|
|
upper.has_value() ? upper->data() : nullptr);
|
|
});
|
|
// Miscellaneous
|
|
Def<traits::mju_muscleGain>(pymodule);
|
|
Def<traits::mju_muscleBias>(pymodule);
|
|
Def<traits::mju_muscleDynamics>(pymodule);
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_encodePyramid, "dim")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> pyramid, Eigen::Ref<const EigenVectorX> force,
|
|
Eigen::Ref<const EigenVectorX> mu) {
|
|
if (pyramid.size() != 2*mu.size()) {
|
|
throw py::type_error(
|
|
"size of pyramid should be twice as large as size of mu");
|
|
}
|
|
if (force.size() != mu.size() + 1) {
|
|
throw py::type_error(
|
|
"size of force should be exactly one larger than size of mu");
|
|
}
|
|
return InterceptMjErrors(::mju_encodePyramid)(
|
|
pyramid.data(), force.data(), mu.data(), mu.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_decodePyramid, "dim")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> force, Eigen::Ref<const EigenVectorX> pyramid,
|
|
Eigen::Ref<const EigenVectorX> mu) {
|
|
if (pyramid.size() != 2*mu.size()) {
|
|
throw py::type_error(
|
|
"size of pyramid should be twice as large as size of mu");
|
|
}
|
|
if (force.size() != mu.size() + 1) {
|
|
throw py::type_error(
|
|
"size of force should be exactly one larger than size of mu");
|
|
}
|
|
return InterceptMjErrors(::mju_decodePyramid)(
|
|
force.data(), pyramid.data(), mu.data(), mu.size());
|
|
});
|
|
Def<traits::mju_springDamper>(pymodule);
|
|
Def<traits::mju_min>(pymodule);
|
|
Def<traits::mju_max>(pymodule);
|
|
Def<traits::mju_clip>(pymodule);
|
|
Def<traits::mju_sign>(pymodule);
|
|
Def<traits::mju_round>(pymodule);
|
|
Def<traits::mju_type2Str>(pymodule);
|
|
Def<traits::mju_str2Type>(pymodule);
|
|
Def<traits::mju_writeNumBytes>(pymodule);
|
|
Def<traits::mju_warningText>(pymodule);
|
|
Def<traits::mju_isBad>(pymodule);
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_isZero, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> vec) {
|
|
return InterceptMjErrors(::mju_isZero)(vec.data(), vec.size());
|
|
});
|
|
Def<traits::mju_standardNormal>(
|
|
pymodule,
|
|
[](std::optional<mjtNum> num2) {
|
|
return InterceptMjErrors(::mju_standardNormal)(
|
|
num2.has_value() ? &*num2 : nullptr);
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_f2n, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const Eigen::Vector<float, Eigen::Dynamic>> vec) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_f2n)(res.data(), vec.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_n2f, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<Eigen::Vector<float, Eigen::Dynamic>> res,
|
|
Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_n2f)(res.data(), vec.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_d2n, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res,
|
|
Eigen::Ref<const Eigen::Vector<double, Eigen::Dynamic>> vec) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_d2n)(res.data(), vec.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_n2d, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<Eigen::Vector<double, Eigen::Dynamic>> res,
|
|
Eigen::Ref<const EigenVectorX> vec) {
|
|
if (res.size() != vec.size()) {
|
|
throw py::type_error("res and vec should have the same size");
|
|
}
|
|
return InterceptMjErrors(::mju_n2d)(res.data(), vec.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_insertionSort, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<EigenVectorX> res) {
|
|
return InterceptMjErrors(::mju_insertionSort)(res.data(), res.size());
|
|
});
|
|
DEF_WITH_OMITTED_PY_ARGS(traits::mju_insertionSortInt, "n")(
|
|
pymodule,
|
|
[](Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> res) {
|
|
return InterceptMjErrors(::mju_insertionSortInt)(
|
|
res.data(), res.size());
|
|
});
|
|
Def<traits::mju_Halton>(pymodule);
|
|
// Skipped: mju_strncpy (doesn't make sense in Python)
|
|
Def<traits::mju_sigmoid>(pymodule);
|
|
|
|
// Derivatives
|
|
Def<traits::mjd_transitionFD>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d,
|
|
mjtNum eps, mjtByte flg_centered,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> A,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> B,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> C,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> D) {
|
|
if (A.has_value() &&
|
|
(A->rows() != 2*m->nv+m->na || A->cols() != 2*m->nv+m->na)) {
|
|
throw py::type_error("A should be of shape (2*nv+na, 2*nv+na)");
|
|
}
|
|
if (B.has_value() &&
|
|
(B->rows() != 2*m->nv+m->na || B->cols() != m->nu)) {
|
|
throw py::type_error("B should be of shape (2*nv+na, nu)");
|
|
}
|
|
if (C.has_value() &&
|
|
(C->rows() != m->nsensordata || C->cols() != 2*m->nv+m->na)) {
|
|
throw py::type_error("C should be of shape (nsensordata, 2*nv+na)");
|
|
}
|
|
if (D.has_value() &&
|
|
(D->rows() != m->nsensordata || D->cols() != m->nu)) {
|
|
throw py::type_error("D should be of shape (nsensordata, nu)");
|
|
}
|
|
return InterceptMjErrors(::mjd_transitionFD)(
|
|
m, d, eps, flg_centered,
|
|
A.has_value() ? A->data() : nullptr,
|
|
B.has_value() ? B->data() : nullptr,
|
|
C.has_value() ? C->data() : nullptr,
|
|
D.has_value() ? D->data() : nullptr);
|
|
});
|
|
Def<traits::mjd_inverseFD>(
|
|
pymodule,
|
|
[](const raw::MjModel* m, raw::MjData* d,
|
|
mjtNum eps, mjtByte flg_actuation,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> DfDq,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> DfDv,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> DfDa,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> DsDq,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> DsDv,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> DsDa,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> DmDq) {
|
|
if (DfDq.has_value() &&
|
|
(DfDq->rows() != m->nv || DfDq->cols() != m->nv)) {
|
|
throw py::type_error("DfDq should be of shape (nv, nv)");
|
|
}
|
|
if (DfDv.has_value() &&
|
|
(DfDv->rows() != m->nv || DfDv->cols() != m->nv)) {
|
|
throw py::type_error("DfDv should be of shape (nv, nv)");
|
|
}
|
|
if (DfDa.has_value() &&
|
|
(DfDa->rows() != m->nv || DfDa->cols() != m->nv)) {
|
|
throw py::type_error("DfDa should be of shape (nv, nv)");
|
|
}
|
|
if (DsDq.has_value() &&
|
|
(DsDq->rows() != m->nv || DsDq->cols() != m->nsensordata)) {
|
|
throw py::type_error("DsDq should be of shape (nv, nsensordata)");
|
|
}
|
|
if (DsDv.has_value() &&
|
|
(DsDv->rows() != m->nv || DsDv->cols() != m->nsensordata)) {
|
|
throw py::type_error("DsDv should be of shape (nv, nsensordata)");
|
|
}
|
|
if (DsDa.has_value() &&
|
|
(DsDa->rows() != m->nv || DsDa->cols() != m->nsensordata)) {
|
|
throw py::type_error("DsDa should be of shape (nv, nsensordata)");
|
|
}
|
|
if (DmDq.has_value() &&
|
|
(DmDq->rows() != m->nv || DmDq->cols() != m->nM)) {
|
|
throw py::type_error("DmDq should be of shape (nv, nM)");
|
|
}
|
|
return InterceptMjErrors(::mjd_inverseFD)(
|
|
m, d, eps, flg_actuation,
|
|
DfDq.has_value() ? DfDq->data() : nullptr,
|
|
DfDv.has_value() ? DfDv->data() : nullptr,
|
|
DfDa.has_value() ? DfDa->data() : nullptr,
|
|
DsDq.has_value() ? DsDq->data() : nullptr,
|
|
DsDv.has_value() ? DsDv->data() : nullptr,
|
|
DsDa.has_value() ? DsDa->data() : nullptr,
|
|
DmDq.has_value() ? DmDq->data() : nullptr);
|
|
});
|
|
Def<traits::mjd_subQuat>(
|
|
pymodule,
|
|
[](Eigen::Ref<const EigenVectorX> qa, Eigen::Ref<const EigenVectorX> qb,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> Da,
|
|
std::optional<Eigen::Ref<EigenArrayXX>> Db) {
|
|
if (qa.size() != 4) {
|
|
throw py::type_error("qa must have size 4");
|
|
}
|
|
if (qb.size() != 4) {
|
|
throw py::type_error("qb must have size 4");
|
|
}
|
|
if (Da.has_value() && Da->size() != 9) {
|
|
throw py::type_error("Da must have size 9");
|
|
}
|
|
if (Db.has_value() && Db->size() != 9) {
|
|
throw py::type_error("Db must have size 9");
|
|
}
|
|
return InterceptMjErrors(::mjd_subQuat)(
|
|
qa.data(), qb.data(),
|
|
Da.has_value() ? Da->data() : nullptr,
|
|
Db.has_value() ? Db->data() : nullptr);
|
|
});
|
|
Def<traits::mjd_quatIntegrate>(pymodule);
|
|
|
|
pymodule.def(
|
|
"_realloc_con_efc",
|
|
[](MjDataWrapper& d, int ncon, int nefc) {
|
|
raw::MjData* data = d.get();
|
|
|
|
auto cleanup = [](raw::MjData* data) {
|
|
#ifdef ADDRESS_SANITIZER
|
|
ASAN_POISON_MEMORY_REGION(
|
|
static_cast<char*>(data->arena),
|
|
data->narena - data->pstack);
|
|
#endif
|
|
data->parena = 0;
|
|
data->ncon = 0;
|
|
data->nefc = 0;
|
|
data->contact = static_cast<raw::MjContact*>(data->arena);
|
|
#define X(type, name, nr, nc) data->name = nullptr;
|
|
MJDATA_ARENA_POINTERS_SOLVER
|
|
MJDATA_ARENA_POINTERS_DUAL
|
|
#undef X
|
|
};
|
|
|
|
cleanup(data);
|
|
data->ncon = ncon;
|
|
data->nefc = nefc;
|
|
data->contact =
|
|
static_cast<raw::MjContact*>(InterceptMjErrors(::mj_arenaAllocByte)(
|
|
data, ncon * sizeof(raw::MjContact), alignof(raw::MjContact)));
|
|
if (!data->contact) {
|
|
cleanup(data);
|
|
throw FatalError("insufficient arena memory available");
|
|
}
|
|
|
|
#undef MJ_M
|
|
#define MJ_M(x) d.model().get()->x
|
|
#undef MJ_D
|
|
#define MJ_D(x) data->x
|
|
#define X(type, name, nr, nc) \
|
|
data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAllocByte)( \
|
|
data, sizeof(type) * (nr) * (nc), alignof(type))); \
|
|
if (!data->name) { \
|
|
cleanup(data); \
|
|
throw FatalError("insufficient arena memory available"); \
|
|
}
|
|
|
|
MJDATA_ARENA_POINTERS_SOLVER
|
|
if (mj_isDual(d.model().get())) {
|
|
MJDATA_ARENA_POINTERS_DUAL
|
|
}
|
|
#undef X
|
|
#undef MJ_D
|
|
#define MJ_D(x) x
|
|
#undef MJ_M
|
|
#define MJ_M(x) x
|
|
},
|
|
py::arg("d"), py::arg("ncon"), py::arg("nefc"),
|
|
py::call_guard<py::gil_scoped_release>());
|
|
} // PYBIND11_MODULE NOLINT(readability/fn_size)
|
|
} // namespace
|
|
} // namespace mujoco::python
|