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

Add actuator and sensor delays. Fixes #1004

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
wasm/codegen/generated/bindings.cc
+105
View File
@@ -4120,6 +4120,12 @@ struct MjModel {
void set_npluginstate(int value) {
ptr_->npluginstate = static_cast<mjtSize>(value);
}
int nhistory() const {
return static_cast<int>(ptr_->nhistory);
}
void set_nhistory(int value) {
ptr_->nhistory = static_cast<mjtSize>(value);
}
int narena() const {
return static_cast<int>(ptr_->narena);
}
@@ -5203,6 +5209,15 @@ struct MjModel {
emscripten::val actuator_group() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_group));
}
emscripten::val actuator_history() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu * 2, ptr_->actuator_history));
}
emscripten::val actuator_historyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_historyadr));
}
emscripten::val actuator_delay() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_delay));
}
emscripten::val actuator_ctrllimited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_ctrllimited));
}
@@ -5290,6 +5305,18 @@ struct MjModel {
emscripten::val sensor_noise() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_noise));
}
emscripten::val sensor_history() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * 2, ptr_->sensor_history));
}
emscripten::val sensor_historyadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_historyadr));
}
emscripten::val sensor_delay() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_delay));
}
emscripten::val sensor_interval() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * 2, ptr_->sensor_interval));
}
emscripten::val sensor_user() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * ptr_->nuser_sensor, ptr_->sensor_user));
}
@@ -5793,6 +5820,24 @@ struct MjsActuator {
void set_group(int value) {
ptr_->group = value;
}
int nsample() const {
return ptr_->nsample;
}
void set_nsample(int value) {
ptr_->nsample = value;
}
int interp() const {
return ptr_->interp;
}
void set_interp(int value) {
ptr_->interp = value;
}
double delay() const {
return ptr_->delay;
}
void set_delay(double value) {
ptr_->delay = value;
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
@@ -6222,6 +6267,27 @@ struct MjsSensor {
void set_noise(double value) {
ptr_->noise = value;
}
int nsample() const {
return ptr_->nsample;
}
void set_nsample(int value) {
ptr_->nsample = value;
}
int interp() const {
return ptr_->interp;
}
void set_interp(int value) {
ptr_->interp = value;
}
double delay() const {
return ptr_->delay;
}
void set_delay(double value) {
ptr_->delay = value;
}
emscripten::val interval() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->interval));
}
mjDoubleVec &userdata() const {
return *(ptr_->userdata);
}
@@ -6448,6 +6514,9 @@ struct MjData {
emscripten::val act() const {
return emscripten::val(emscripten::typed_memory_view(model->na, ptr_->act));
}
emscripten::val history() const {
return emscripten::val(emscripten::typed_memory_view(model->nhistory, ptr_->history));
}
emscripten::val qacc_warmstart() const {
return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qacc_warmstart));
}
@@ -8539,6 +8608,18 @@ void mj_implicit_wrapper(const MjModel& m, MjData& d) {
mj_implicit(m.get(), d.get());
}
void mj_initCtrlHistory_wrapper(const MjModel& m, MjData& d, int id, const NumberArray& times, const NumberArray& values) {
UNPACK_NULLABLE_ARRAY(mjtNum, times);
UNPACK_ARRAY(mjtNum, values);
mj_initCtrlHistory(m.get(), d.get(), id, times_.data(), values_.data());
}
void mj_initSensorHistory_wrapper(const MjModel& m, MjData& d, int id, const NumberArray& times, const NumberArray& values, mjtNum phase) {
UNPACK_NULLABLE_ARRAY(mjtNum, times);
UNPACK_ARRAY(mjtNum, values);
mj_initSensorHistory(m.get(), d.get(), id, times_.data(), values_.data(), phase);
}
void mj_integratePos_wrapper(const MjModel& m, const val& qpos, const NumberArray& qvel, mjtNum dt) {
UNPACK_VALUE(mjtNum, qpos);
UNPACK_ARRAY(mjtNum, qvel);
@@ -8811,6 +8892,10 @@ mjtNum mj_rayMesh_wrapper(const MjModel& m, const MjData& d, int geomid, const N
return mj_rayMesh(m.get(), d.get(), geomid, pnt_.data(), vec_.data(), normal_.data());
}
mjtNum mj_readCtrl_wrapper(const MjModel& m, const MjData& d, int id, mjtNum time, int interp) {
return mj_readCtrl(m.get(), d.get(), id, time, interp);
}
void mj_referenceConstraint_wrapper(const MjModel& m, MjData& d) {
mj_referenceConstraint(m.get(), d.get());
}
@@ -11103,6 +11188,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjSTATE_QPOS", mjSTATE_QPOS)
.value("mjSTATE_QVEL", mjSTATE_QVEL)
.value("mjSTATE_ACT", mjSTATE_ACT)
.value("mjSTATE_HISTORY", mjSTATE_HISTORY)
.value("mjSTATE_WARMSTART", mjSTATE_WARMSTART)
.value("mjSTATE_CTRL", mjSTATE_CTRL)
.value("mjSTATE_QFRC_APPLIED", mjSTATE_QFRC_APPLIED)
@@ -11341,6 +11427,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("flg_subtreevel", &MjData::flg_subtreevel, &MjData::set_flg_subtreevel, reference())
.property("geom_xmat", &MjData::geom_xmat)
.property("geom_xpos", &MjData::geom_xpos)
.property("history", &MjData::history)
.property("iLD", &MjData::iLD)
.property("iLDiagInv", &MjData::iLDiagInv)
.property("iM", &MjData::iM)
@@ -11517,6 +11604,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("actuator_cranklength", &MjModel::actuator_cranklength)
.property("actuator_ctrllimited", &MjModel::actuator_ctrllimited)
.property("actuator_ctrlrange", &MjModel::actuator_ctrlrange)
.property("actuator_delay", &MjModel::actuator_delay)
.property("actuator_dynprm", &MjModel::actuator_dynprm)
.property("actuator_dyntype", &MjModel::actuator_dyntype)
.property("actuator_forcelimited", &MjModel::actuator_forcelimited)
@@ -11525,6 +11613,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("actuator_gaintype", &MjModel::actuator_gaintype)
.property("actuator_gear", &MjModel::actuator_gear)
.property("actuator_group", &MjModel::actuator_group)
.property("actuator_history", &MjModel::actuator_history)
.property("actuator_historyadr", &MjModel::actuator_historyadr)
.property("actuator_length0", &MjModel::actuator_length0)
.property("actuator_lengthrange", &MjModel::actuator_lengthrange)
.property("actuator_plugin", &MjModel::actuator_plugin)
@@ -11859,6 +11949,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("ngravcomp", &MjModel::ngravcomp, &MjModel::set_ngravcomp, reference())
.property("nhfield", &MjModel::nhfield, &MjModel::set_nhfield, reference())
.property("nhfielddata", &MjModel::nhfielddata, &MjModel::set_nhfielddata, reference())
.property("nhistory", &MjModel::nhistory, &MjModel::set_nhistory, reference())
.property("njmax", &MjModel::njmax, &MjModel::set_njmax, reference())
.property("njnt", &MjModel::njnt, &MjModel::set_njnt, reference())
.property("nkey", &MjModel::nkey, &MjModel::set_nkey, reference())
@@ -11943,7 +12034,11 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("sensor_adr", &MjModel::sensor_adr)
.property("sensor_cutoff", &MjModel::sensor_cutoff)
.property("sensor_datatype", &MjModel::sensor_datatype)
.property("sensor_delay", &MjModel::sensor_delay)
.property("sensor_dim", &MjModel::sensor_dim)
.property("sensor_history", &MjModel::sensor_history)
.property("sensor_historyadr", &MjModel::sensor_historyadr)
.property("sensor_interval", &MjModel::sensor_interval)
.property("sensor_intprm", &MjModel::sensor_intprm)
.property("sensor_needstage", &MjModel::sensor_needstage)
.property("sensor_noise", &MjModel::sensor_noise)
@@ -12239,6 +12334,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("cranklength", &MjsActuator::cranklength, &MjsActuator::set_cranklength, reference())
.property("ctrllimited", &MjsActuator::ctrllimited, &MjsActuator::set_ctrllimited, reference())
.property("ctrlrange", &MjsActuator::ctrlrange)
.property("delay", &MjsActuator::delay, &MjsActuator::set_delay, reference())
.property("dynprm", &MjsActuator::dynprm)
.property("dyntype", &MjsActuator::dyntype, &MjsActuator::set_dyntype, reference())
.property("element", &MjsActuator::element, reference())
@@ -12250,7 +12346,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("group", &MjsActuator::group, &MjsActuator::set_group, reference())
.property("info", &MjsActuator::info, &MjsActuator::set_info, reference())
.property("inheritrange", &MjsActuator::inheritrange, &MjsActuator::set_inheritrange, reference())
.property("interp", &MjsActuator::interp, &MjsActuator::set_interp, reference())
.property("lengthrange", &MjsActuator::lengthrange)
.property("nsample", &MjsActuator::nsample, &MjsActuator::set_nsample, reference())
.property("plugin", &MjsActuator::plugin, reference())
.property("refsite", &MjsActuator::refsite, &MjsActuator::set_refsite, reference())
.property("slidersite", &MjsActuator::slidersite, &MjsActuator::set_slidersite, reference())
@@ -12556,12 +12654,16 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
emscripten::class_<MjsSensor>("MjsSensor")
.property("cutoff", &MjsSensor::cutoff, &MjsSensor::set_cutoff, reference())
.property("datatype", &MjsSensor::datatype, &MjsSensor::set_datatype, reference())
.property("delay", &MjsSensor::delay, &MjsSensor::set_delay, reference())
.property("dim", &MjsSensor::dim, &MjsSensor::set_dim, reference())
.property("element", &MjsSensor::element, reference())
.property("info", &MjsSensor::info, &MjsSensor::set_info, reference())
.property("interp", &MjsSensor::interp, &MjsSensor::set_interp, reference())
.property("interval", &MjsSensor::interval)
.property("intprm", &MjsSensor::intprm)
.property("needstage", &MjsSensor::needstage, &MjsSensor::set_needstage, reference())
.property("noise", &MjsSensor::noise, &MjsSensor::set_noise, reference())
.property("nsample", &MjsSensor::nsample, &MjsSensor::set_nsample, reference())
.property("objname", &MjsSensor::objname, &MjsSensor::set_objname, reference())
.property("objtype", &MjsSensor::objtype, &MjsSensor::set_objtype, reference())
.property("plugin", &MjsSensor::plugin, reference())
@@ -12908,6 +13010,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mj_getTotalmass", &mj_getTotalmass_wrapper);
function("mj_id2name", &mj_id2name_wrapper);
function("mj_implicit", &mj_implicit_wrapper);
function("mj_initCtrlHistory", &mj_initCtrlHistory_wrapper);
function("mj_initSensorHistory", &mj_initSensorHistory_wrapper);
function("mj_integratePos", &mj_integratePos_wrapper);
function("mj_invConstraint", &mj_invConstraint_wrapper);
function("mj_invPosition", &mj_invPosition_wrapper);
@@ -12951,6 +13055,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mj_rayFlex", &mj_rayFlex_wrapper);
function("mj_rayHfield", &mj_rayHfield_wrapper);
function("mj_rayMesh", &mj_rayMesh_wrapper);
function("mj_readCtrl", &mj_readCtrl_wrapper);
function("mj_referenceConstraint", &mj_referenceConstraint_wrapper);
function("mj_resetCallbacks", &mj_resetCallbacks);
function("mj_resetData", &mj_resetData_wrapper);