Add actuator and sensor delays. Fixes #1004
PiperOrigin-RevId: 866478839 Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
84fa527723
commit
6419534bad
@@ -522,20 +522,21 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjSTATE_QPOS', 2),
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('mjSTATE_QVEL', 4),
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('mjSTATE_ACT', 8),
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('mjSTATE_WARMSTART', 16),
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('mjSTATE_CTRL', 32),
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('mjSTATE_QFRC_APPLIED', 64),
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('mjSTATE_XFRC_APPLIED', 128),
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('mjSTATE_EQ_ACTIVE', 256),
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('mjSTATE_MOCAP_POS', 512),
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('mjSTATE_MOCAP_QUAT', 1024),
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('mjSTATE_USERDATA', 2048),
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('mjSTATE_PLUGIN', 4096),
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('mjNSTATE', 13),
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('mjSTATE_PHYSICS', 14),
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('mjSTATE_FULLPHYSICS', 4111),
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('mjSTATE_USER', 4064),
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('mjSTATE_INTEGRATION', 8191),
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('mjSTATE_HISTORY', 16),
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('mjSTATE_WARMSTART', 32),
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('mjSTATE_CTRL', 64),
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('mjSTATE_QFRC_APPLIED', 128),
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('mjSTATE_XFRC_APPLIED', 256),
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('mjSTATE_EQ_ACTIVE', 512),
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('mjSTATE_MOCAP_POS', 1024),
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('mjSTATE_MOCAP_QUAT', 2048),
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('mjSTATE_USERDATA', 4096),
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('mjSTATE_PLUGIN', 8192),
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('mjNSTATE', 14),
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('mjSTATE_PHYSICS', 30),
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('mjSTATE_FULLPHYSICS', 8223),
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('mjSTATE_USER', 8128),
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('mjSTATE_INTEGRATION', 16383),
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]),
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)),
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('mjtConstraint',
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@@ -2636,6 +2636,156 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
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),
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doc='Copy state from src to dst.',
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)),
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('mj_readCtrl',
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FunctionDecl(
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name='mj_readCtrl',
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return_type=ValueType(name='mjtNum'),
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parameters=(
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FunctionParameterDecl(
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name='m',
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type=PointerType(
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inner_type=ValueType(name='mjModel', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='d',
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type=PointerType(
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inner_type=ValueType(name='mjData', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='id',
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type=ValueType(name='int'),
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),
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FunctionParameterDecl(
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name='time',
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type=ValueType(name='mjtNum'),
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),
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FunctionParameterDecl(
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name='interp',
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type=ValueType(name='int'),
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),
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),
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doc='Read ctrl value for actuator at given time. Returns d->ctrl[id] if no history, otherwise reads from history buffer. interp: 0=zero-order-hold, 1=linear, 2=cubic spline.', # pylint: disable=line-too-long
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)),
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('mj_readSensor',
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FunctionDecl(
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name='mj_readSensor',
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return_type=PointerType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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),
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parameters=(
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FunctionParameterDecl(
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name='m',
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type=PointerType(
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inner_type=ValueType(name='mjModel', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='d',
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type=PointerType(
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inner_type=ValueType(name='mjData', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='id',
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type=ValueType(name='int'),
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),
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FunctionParameterDecl(
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name='time',
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type=ValueType(name='mjtNum'),
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),
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FunctionParameterDecl(
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name='result',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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),
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FunctionParameterDecl(
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name='interp',
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type=ValueType(name='int'),
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),
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),
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doc='Read sensor value from history buffer at given time. Returns pointer to sensordata (no history) or history buffer (exact match), or NULL if interpolation performed (writes to result). interp: 0=zero-order-hold, 1=linear, 2=cubic spline.', # pylint: disable=line-too-long
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)),
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('mj_initCtrlHistory',
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FunctionDecl(
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name='mj_initCtrlHistory',
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return_type=ValueType(name='void'),
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parameters=(
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FunctionParameterDecl(
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name='m',
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type=PointerType(
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inner_type=ValueType(name='mjModel', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='d',
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type=PointerType(
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inner_type=ValueType(name='mjData'),
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),
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),
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FunctionParameterDecl(
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name='id',
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type=ValueType(name='int'),
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),
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FunctionParameterDecl(
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name='times',
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type=PointerType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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),
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nullable=True,
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),
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FunctionParameterDecl(
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name='values',
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type=PointerType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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),
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),
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),
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doc='Initialize history buffer for actuator; if times is NULL, uses existing buffer timestamps.', # pylint: disable=line-too-long
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)),
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('mj_initSensorHistory',
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FunctionDecl(
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name='mj_initSensorHistory',
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return_type=ValueType(name='void'),
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parameters=(
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FunctionParameterDecl(
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name='m',
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type=PointerType(
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inner_type=ValueType(name='mjModel', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='d',
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type=PointerType(
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inner_type=ValueType(name='mjData'),
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),
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),
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FunctionParameterDecl(
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name='id',
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type=ValueType(name='int'),
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),
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FunctionParameterDecl(
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name='times',
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type=PointerType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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),
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nullable=True,
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),
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FunctionParameterDecl(
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name='values',
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type=PointerType(
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inner_type=ValueType(name='mjtNum', is_const=True),
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),
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),
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FunctionParameterDecl(
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name='phase',
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type=ValueType(name='mjtNum'),
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),
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),
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doc='Initialize history buffer for sensor; if times is NULL, uses existing buffer timestamps. phase sets the user slot (last computation time for interval sensors).', # pylint: disable=line-too-long
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)),
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('mj_setKeyframe',
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FunctionDecl(
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name='mj_setKeyframe',
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@@ -1277,6 +1277,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='mjtSize'),
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doc='number of mjtNums in plugin state vector',
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),
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StructFieldDecl(
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name='nhistory',
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type=ValueType(name='mjtSize'),
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doc='number of mjtNums in history buffer',
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),
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StructFieldDecl(
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name='narena',
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type=ValueType(name='mjtSize'),
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@@ -4157,6 +4162,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='group for visibility',
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array_extent=('nu',),
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),
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StructFieldDecl(
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name='actuator_history',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='history buffer: [nsample, interp]',
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array_extent=('nu', 2),
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),
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StructFieldDecl(
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name='actuator_historyadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='address in history buffer; -1: none',
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array_extent=('nu',),
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),
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StructFieldDecl(
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name='actuator_delay',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='delay time in seconds; 0: no delay',
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array_extent=('nu',),
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),
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StructFieldDecl(
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name='actuator_ctrllimited',
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type=PointerType(
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@@ -4389,6 +4418,38 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='noise standard deviation',
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array_extent=('nsensor',),
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),
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StructFieldDecl(
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name='sensor_history',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='history buffer: [nsample, interp]',
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array_extent=('nsensor', 2),
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),
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StructFieldDecl(
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name='sensor_historyadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='address in history buffer; -1: none',
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array_extent=('nsensor',),
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),
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StructFieldDecl(
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name='sensor_delay',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='delay time in seconds; 0: no delay',
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array_extent=('nsensor',),
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),
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StructFieldDecl(
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name='sensor_interval',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='interval: [period, phase] in seconds',
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array_extent=('nsensor', 2),
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),
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StructFieldDecl(
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name='sensor_user',
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type=PointerType(
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@@ -5402,6 +5463,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='actuator activation',
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array_extent=('na',),
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),
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StructFieldDecl(
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name='history',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='history buffer',
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array_extent=('nhistory',),
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),
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StructFieldDecl(
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name='qacc_warmstart',
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type=PointerType(
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@@ -9173,6 +9242,21 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='int'),
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doc='group',
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),
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StructFieldDecl(
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name='nsample',
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type=ValueType(name='int'),
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doc='number of samples in history buffer',
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),
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StructFieldDecl(
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name='interp',
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type=ValueType(name='int'),
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doc='interpolation order (0=ZOH, 1=linear, 2=cubic)',
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),
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StructFieldDecl(
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name='delay',
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type=ValueType(name='double'),
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doc='delay time in seconds; 0: no delay',
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),
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StructFieldDecl(
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name='userdata',
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type=PointerType(
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@@ -9268,6 +9352,29 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='double'),
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doc='noise stdev',
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),
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StructFieldDecl(
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name='nsample',
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type=ValueType(name='int'),
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doc='number of samples in history buffer',
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),
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StructFieldDecl(
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name='interp',
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type=ValueType(name='int'),
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doc='interpolation order (0=ZOH, 1=linear, 2=cubic)',
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),
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StructFieldDecl(
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name='delay',
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type=ValueType(name='double'),
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doc='delay time in seconds',
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),
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StructFieldDecl(
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name='interval',
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type=ArrayType(
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inner_type=ValueType(name='double'),
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extents=(2,),
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),
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doc='[period, time_prev] in seconds',
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),
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StructFieldDecl(
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name='userdata',
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type=PointerType(
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