novaphy.StateFlags¶
Bit flags used by solver reset methods to select state arrays. The current
public consumer is SolverMuJoCo.reset(state, world_mask=None, flags=None).
Values¶
| Value | Integer | Selected array |
|---|---|---|
JOINT_Q |
1 << 0 |
Joint positions/configuration. |
JOINT_QD |
1 << 1 |
Joint velocities. |
BODY_Q |
1 << 2 |
Body poses. |
BODY_QD |
1 << 3 |
Body spatial velocities. |
PARTICLE_Q |
1 << 4 |
Particle positions. |
PARTICLE_QD |
1 << 5 |
Particle velocities. |
ALL |
0x3F |
All six categories. |
Flags support integer-style bitmask composition. For the native MuJoCo
solver, only JOINT_Q and JOINT_QD affect copied state fields; body and
particle flags are currently ignored, and the solver's local working buffers
are cleared on every reset.
flags = int(novaphy.StateFlags.JOINT_Q) | int(novaphy.StateFlags.JOINT_QD)
solver.reset(state, flags=flags)