chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add function mjs_sensorDim to user API.

Browse Source 
Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
This commit is contained in:
Yuval Tassa
2025-07-29 10:19:28 -07:00
committed by Copybara-Service
parent a771fc6c09
commit 46dc67b7eb
10 changed files with 149 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/introspect/functions.py
+14
View File
@@ -10688,6 +10688,20 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Delete user payload.',
)),
('mjs_sensorDim',
FunctionDecl(
name='mjs_sensorDim',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='sensor',
type=PointerType(
inner_type=ValueType(name='mjsSensor', is_const=True),
),
),
),
doc='Return sensor dimension.',
)),
('mjs_defaultSpec',
FunctionDecl(
name='mjs_defaultSpec',
python/mujoco/specs.cc
+3
View File
@@ -1172,6 +1172,9 @@ PYBIND11_MODULE(_specs, m) {
mjSpec.def("delete", [](MjSpec& self, raw::MjsSensor& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsSensor.def("get_data_size", [](raw::MjsSensor& self) -> int {
return mjs_sensorDim(&self);
});
// ============================= MJSFLEX =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsFlex& obj) {
python/mujoco/specs_test.py
+29 -27
View File
@@ -20,7 +20,7 @@ import math
import os
import textwrap
import typing
import zipfile
import zipfile # pylint: disable=unused-import
from absl.testing import absltest
from etils import epath
@@ -542,7 +542,7 @@ class SpecsTest(absltest.TestCase):
spec.to_xml()
def test_modelname_default_class(self):
XML = textwrap.dedent("""\
xml = textwrap.dedent("""\
<mujoco model="test">
<compiler angle="radian"/>
@@ -573,7 +573,7 @@ class SpecsTest(absltest.TestCase):
spec.worldbody.add_geom(main)
spec.compile()
self.assertEqual(spec.to_xml(), XML)
self.assertEqual(spec.to_xml(), xml)
spec = mujoco.MjSpec()
spec.modelname = 'test'
@@ -588,7 +588,7 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(geom2.classname.name, 'main')
spec.compile()
self.assertEqual(spec.to_xml(), XML)
self.assertEqual(spec.to_xml(), xml)
spec = mujoco.MjSpec()
spec.modelname = 'test'
@@ -604,7 +604,7 @@ class SpecsTest(absltest.TestCase):
geom2.classname = main # actually redundant, since main is always applied
spec.compile()
self.assertEqual(spec.to_xml(), XML)
self.assertEqual(spec.to_xml(), xml)
# test delete default
def1 = spec.find_default('def1')
@@ -1323,12 +1323,12 @@ class SpecsTest(absltest.TestCase):
def test_bad_contact_sensor(self):
test_cases = [
dict(
expected_error='dim must be positive in sensor',
expected_error='num (intprm[2]) must be positive in sensor',
sensor_params=dict(
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=0,
intprm=[1, 0, 0],
),
),
dict(
@@ -1337,8 +1337,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[0, 0, 0],
intprm=[0, 0, 1],
),
),
dict(
@@ -1350,8 +1349,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[1 << 10, 0, 0],
intprm=[1 << 10, 0, 1],
),
),
dict(
@@ -1363,20 +1361,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[(1 << 10) | 1, 0, 0],
),
),
dict(
expected_error=(
'dim 2 not divisible by size 3 implied by data spec (intprm[0])'
),
sensor_params=dict(
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=2,
intprm=[2, 0, 0], # force (size 3)
intprm=[(1 << 10) | 1, 0, 1],
),
),
dict(
@@ -1385,8 +1370,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[1, 4, 0],
intprm=[1, 4, 1],
),
),
dict(
@@ -1442,6 +1426,24 @@ class SpecsTest(absltest.TestCase):
with self.assertRaisesWithPredicateMatch(ValueError, error_predicate):
spec.compile()
def test_sensor_data_size(self):
spec = mujoco.MjSpec()
quat = spec.add_sensor(
name='framequat',
type=mujoco.mjtSensor.mjSENS_FRAMEQUAT,
objtype=mujoco.mjtObj.mjOBJ_BODY,
objname='world',
)
self.assertEqual(quat.get_data_size(), 4)
clock = spec.add_sensor(
name='clock',
type=mujoco.mjtSensor.mjSENS_CLOCK,
)
self.assertEqual(clock.get_data_size(), 1)
mj_model = spec.compile()
self.assertEqual(mj_model.sensor_dim[0], 4)
self.assertEqual(mj_model.sensor_dim[1], 1)
if __name__ == '__main__':
absltest.main()