unisim.backend.mjwarp.state_commit

Prepared host transactions for the single MJWarp native state barrier.

Functions

float_values(name, values, shape)

Own finite representable float32 state/model rows before native writes.

Classes

ModelUpdates

ModelUpdates(fields: 'dict[str, np.ndarray]' = <factory>, refresh: 'int' = 0, actuator_fields: 'dict[str, np.ndarray]' = <factory>)

StateCommitPlan

StateCommitPlan(rows: 'np.ndarray', qpos: 'np.ndarray', qvel: 'np.ndarray', mocap_pos: 'np.ndarray', mocap_quat: 'np.ndarray', channels: 'dict[str, np.ndarray]', staged_wrenches: 'np.ndarray', time: 'np.ndarray', reset_world: 'bool' = False, entity_names: 'tuple[str, ...] | None' = None, model_updates: 'ModelUpdates' = <factory>, allow_scratch: 'bool' = False)
class unisim.backend.mjwarp.state_commit.ModelUpdates[source]

Bases: object

ModelUpdates(fields: ‘dict[str, np.ndarray]’ = <factory>, refresh: ‘int’ = 0, actuator_fields: ‘dict[str, np.ndarray]’ = <factory>)

Parameters:
fields: dict[str, ndarray]
refresh: int = 0
actuator_fields: dict[str, ndarray]
__init__(fields=<factory>, refresh=0, actuator_fields=<factory>)
Parameters:
class unisim.backend.mjwarp.state_commit.StateCommitPlan[source]

Bases: object

StateCommitPlan(rows: ‘np.ndarray’, qpos: ‘np.ndarray’, qvel: ‘np.ndarray’, mocap_pos: ‘np.ndarray’, mocap_quat: ‘np.ndarray’, channels: ‘dict[str, np.ndarray]’, staged_wrenches: ‘np.ndarray’, time: ‘np.ndarray’, reset_world: ‘bool’ = False, entity_names: ‘tuple[str, …] | None’ = None, model_updates: ‘ModelUpdates’ = <factory>, allow_scratch: ‘bool’ = False)

Parameters:
rows: ndarray
qpos: ndarray
qvel: ndarray
mocap_pos: ndarray
mocap_quat: ndarray
channels: dict[str, ndarray]
staged_wrenches: ndarray
time: ndarray
reset_world: bool = False
entity_names: tuple[str, ...] | None = None
model_updates: ModelUpdates
allow_scratch: bool = False
__init__(rows, qpos, qvel, mocap_pos, mocap_quat, channels, staged_wrenches, time, reset_world=False, entity_names=None, model_updates=<factory>, allow_scratch=False)
Parameters:
unisim.backend.mjwarp.state_commit.float_values(name, values, shape)[source]

Own finite representable float32 state/model rows before native writes.

Parameters:
Return type:

ndarray