Increase mjNSENS to 3

PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16

doc/APIreference/APIglobals.rst

@@ -445,7 +445,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - The maximal number of real-valued parameters used to define the impedance of each scalar constraint.
        Determines the size of all ``mjModel.XXX_solimp`` fields.
    * - ``mjNSENS``
-     - 2
+     - 3
      - The number of sensor parameters.
        Determines the size of ``mjModel.sensor_intprm``.
    * - ``mjNSOLVER``

include/mujoco/mjmodel.h

@@ -41,7 +41,7 @@
 #define mjNFLUID        12        // number of fluid interaction parameters
 #define mjNREF          2         // number of solver reference parameters
 #define mjNIMP          5         // number of solver impedance parameters
-#define mjNSENS         2         // number of sensor parameters
+#define mjNSENS         3         // number of sensor parameters
 #define mjNSOLVER       200       // size of one mjData.solver array
 #define mjNISLAND       20        // number of mjData.solver arrays
 

mjx/mujoco/mjx/_src/sensor.py

@@ -567,7 +567,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
             size += size_i
         return size
 
-      dataspecs, reduces = m.sensor_intprm[idx].T
+      dataspecs, reduces, _ = m.sensor_intprm[idx].T
       dims = m.sensor_dim[idx]
       objtypes = m.sensor_objtype[idx]
       refid = m.sensor_refid[idx]

python/mujoco/introspect/structs.py

@@ -10408,7 +10408,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  name='intprm',
                  type=ArrayType(
                      inner_type=ValueType(name='int'),
-                     extents=(2,),
+                     extents=(3,),
                  ),
                  doc='integer parameters',
              ),

python/mujoco/specs_test.py

@@ -1338,7 +1338,7 @@ class SpecsTest(absltest.TestCase):
                 objtype=mujoco.mjtObj.mjOBJ_GEOM,
                 objname='sphere1',
                 dim=1,
-                intprm=[0, 0],
+                intprm=[0, 0, 0],
             ),
         ),
         dict(
@@ -1351,7 +1351,7 @@ class SpecsTest(absltest.TestCase):
                 objtype=mujoco.mjtObj.mjOBJ_GEOM,
                 objname='sphere1',
                 dim=1,
-                intprm=[1 << 10, 0],
+                intprm=[1 << 10, 0, 0],
             ),
         ),
         dict(
@@ -1364,7 +1364,7 @@ class SpecsTest(absltest.TestCase):
                 objtype=mujoco.mjtObj.mjOBJ_GEOM,
                 objname='sphere1',
                 dim=1,
-                intprm=[(1 << 10) | 1, 0],
+                intprm=[(1 << 10) | 1, 0, 0],
             ),
         ),
         dict(
@@ -1376,7 +1376,7 @@ class SpecsTest(absltest.TestCase):
                 objtype=mujoco.mjtObj.mjOBJ_GEOM,
                 objname='sphere1',
                 dim=2,
-                intprm=[2, 0],  # force (size 3)
+                intprm=[2, 0, 0],  # force (size 3)
             ),
         ),
         dict(
@@ -1386,7 +1386,7 @@ class SpecsTest(absltest.TestCase):
                 objtype=mujoco.mjtObj.mjOBJ_GEOM,
                 objname='sphere1',
                 dim=1,
-                intprm=[1, 4],
+                intprm=[1, 4, 0],
             ),
         ),
         dict(

test/engine/engine_sensor_test.cc

@@ -574,7 +574,7 @@ TEST_F(SensorTest, IntPrm) {
     </sensor>
   </mujoco>
   )";
-  ASSERT_EQ(mjNSENS, 2);
+  ASSERT_EQ(mjNSENS, 3);
 
   char err[1024];
   mjSpec* spec = mj_parseXMLString(xml, 0, err, sizeof(err));
@@ -588,9 +588,11 @@ TEST_F(SensorTest, IntPrm) {
   mjsSensor* s = mjs_asSensor(mjs_findElement(spec, mjOBJ_SENSOR, "dummy"));
   s->intprm[0] = 3;
   s->intprm[1] = 4;
+  s->intprm[2] = 5;
   model = mj_compile(spec, nullptr);
   EXPECT_EQ(model->sensor_intprm[0], 3);
   EXPECT_EQ(model->sensor_intprm[1], 4);
+  EXPECT_EQ(model->sensor_intprm[2], 5);
   mj_deleteModel(model);
   mj_deleteSpec(spec);
 }

unity/Runtime/Bindings/MjBindings.cs

@@ -49,7 +49,7 @@ public const int mjNBIAS = 10;
 public const int mjNFLUID = 12;
 public const int mjNREF = 2;
 public const int mjNIMP = 5;
-public const int mjNSENS = 2;
+public const int mjNSENS = 3;
 public const int mjNSOLVER = 200;
 public const int mjNISLAND = 20;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;