Method Sync

TextOpDeploy/src/unitree_mujoco/simulate/src/mujoco/simulate.cc:2037–2420

synchronize model and data operations which require holding the mutex, prevents racing with physics thread

  // synchronize model and data
  // operations which require holding the mutex, prevents racing with physics thread
  void Simulate::Sync()
  {
    MutexLock lock(this->mtx);

    if (!m_)
    {
      return;
    }
    if (this->exitrequest.load())
    {
      return;
    }

    bool update_profiler = this->profiler && (this->pause_update || this->run);
    bool update_sensor = this->sensor && (this->pause_update || this->run);

    for (int i = 0; i < m_->njnt; ++i)
    {
      std::optional<std::pair<mjtNum, mjtNum>> range;
      if (m_->jnt_limited[i])
      {
        range.emplace(m_->jnt_range[2 * i], m_->jnt_range[2 * i + 1]);
      }
      if (jnt_range_[i] != range)
      {
        pending_.ui_update_joint = true;
        jnt_range_[i].swap(range);
      }
    }

    for (int i = 0; i < m_->nu; ++i)
    {
      std::optional<std::pair<mjtNum, mjtNum>> range;
      if (m_->actuator_ctrllimited[i])
      {
        range.emplace(m_->actuator_ctrlrange[2 * i], m_->actuator_ctrlrange[2 * i + 1]);
      }
      if (actuator_ctrlrange_[i] != range)
      {
        pending_.ui_remake_ctrl = true;
        actuator_ctrlrange_[i].swap(range);
      }
    }

    for (int i = 0; i < m_->nq; ++i)
    {
      if (qpos_[i] != qpos_prev_[i])
      {
        d_->qpos[i] = qpos_[i];
      }
      else
      {
        qpos_[i] = d_->qpos[i];
      }
      if (qpos_prev_[i] != qpos_[i])
      {
        pending_.ui_update_joint = true;
        qpos_prev_[i] = qpos_[i];