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External access to MuJoCo model and data - #39
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eholum-nasa merged 3 commits intoNov 21, 2025
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Signed-off-by: Paul Gesel <pgesel@theaiinstitute.com>
Signed-off-by: Paul Gesel <pgesel@theaiinstitute.com>
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Probably little used interfaces for the near term but unlimited power.
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| void MujocoSystemInterface::get_model(mjModel*& dest) | ||
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| const std::unique_lock<std::recursive_mutex> lock(*sim_mutex_); |
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Someday we will refactor this whole darn thing so that we're not living with the lazy choice I made 6 months ago forever... But it is not this day.
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External access to MuJoCo model and data
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I have a specialized use case for accessing the MuJoCo model and data external to the
MujocoSystemInterfaceclass. This PR add an interfaces for reading and writing the data. I intent to call these methods from either a hardware interface that inherits fromMujocoSystemInterfaceor from outside the class, potentially a wrapper hardware interface or a singleton pattern. Either way, adding these public methods will work.