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Add actuator and sensor delays. Fixes #1004

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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
This commit is contained in:
Yuval Tassa
2026-02-06 08:46:45 -08:00
committed by Copybara-Service
parent 84fa527723
commit 6419534bad
48 changed files with 6282 additions and 219 deletions
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python/mujoco/functions.cc
+55 -1
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@@ -91,7 +91,7 @@ PYBIND11_MODULE(_functions, pymodule) {
DEF_WITH_OMITTED_PY_ARGS(traits::mj_printSchema,
"filename", "buffer", "buffer_sz")(
pymodule, [](bool flg_html, bool flg_pad) {
constexpr int kBufferSize = 40000;
constexpr int kBufferSize = 60000;
auto buffer = std::unique_ptr<char[]>(new char[kBufferSize]);
const int out_length = InterceptMjErrors(::mj_printSchema)(
nullptr, buffer.get(), kBufferSize, flg_html, flg_pad);
@@ -357,6 +357,60 @@ PYBIND11_MODULE(_functions, pymodule) {
return InterceptMjErrors(::mj_setState)(m, d, state.data(), sig);
});
Def<traits::mj_copyState>(pymodule);
Def<traits::mj_readCtrl>(pymodule);
Def<traits::mj_readSensor>(
pymodule,
[](const raw::MjModel* m, const raw::MjData* d, int id, mjtNum time,
Eigen::Ref<EigenVectorX> result, int order) {
int dim = m->sensor_dim[id];
if (result.size() != dim) {
throw py::type_error("result should have length sensor_dim[id]");
}
const mjtNum* ptr = InterceptMjErrors(::mj_readSensor)(
m, d, id, time, result.data(), order);
if (ptr && ptr != result.data()) {
for (int i = 0; i < dim; ++i) {
result[i] = ptr[i];
}
}
return result;
});
Def<traits::mj_initCtrlHistory>(
pymodule,
[](const raw::MjModel* m, raw::MjData* d, int id,
std::optional<Eigen::Ref<const EigenVectorX>> times,
Eigen::Ref<const EigenVectorX> values) {
int nhistory = m->actuator_history[2*id];
if (times.has_value() && times->size() != nhistory) {
throw py::type_error(
"times should have length actuator_history[2*id]");
}
if (values.size() != nhistory) {
throw py::type_error(
"values should have length actuator_history[2*id]");
}
return InterceptMjErrors(::mj_initCtrlHistory)(
m, d, id,
times.has_value() ? times->data() : nullptr, values.data());
});
Def<traits::mj_initSensorHistory>(
pymodule, [](const raw::MjModel* m, raw::MjData* d, int id,
std::optional<Eigen::Ref<const EigenVectorX>> times,
Eigen::Ref<const EigenArrayXX> values, mjtNum phase) {
int nhistory = m->sensor_history[2 * id];
int dim = m->sensor_dim[id];
if (times.has_value() && times->size() != nhistory) {
throw py::type_error("times should have length sensor_history[2*id]");
}
if (values.rows() != nhistory || values.cols() != dim) {
throw py::type_error(
"values should have shape (sensor_history[2*id], "
"sensor_dim[id])");
}
return InterceptMjErrors(::mj_initSensorHistory)(
m, d, id, times.has_value() ? times->data() : nullptr,
values.data(), phase);
});
Def<traits::mj_setKeyframe>(pymodule);
Def<traits::mj_addContact>(pymodule);
Def<traits::mj_isPyramidal>(pymodule);