Matija Kecman
58d6910afa
StepControl methods SetSpeed, SetNoiseParameters, and SetPauseState now return a boolean indicating whether the state was actually changed. The GUI functions NoiseGui and StepControlGui also return a boolean reflecting if any parameters were modified. Noise parameters are now directly managed by StepControl rather than being stored in UxState. The StepControlEvent message has been expanded to include all step control parameters. Keyboard event handling has been slightly refactored to better align with event-based updates. PiperOrigin-RevId: 940656342 Change-Id: I3701623a2fdcfc4c084b5db0ae19048669040de4
88 lines
3.6 KiB
C++
88 lines
3.6 KiB
C++
// Copyright 2026 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// https://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Python bindings for MuJoCo platform simulation components.
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#include <tuple>
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#include <mujoco/mujoco.h>
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#include <mujoco/experimental/platform/sim/step_control.h>
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#include "structs.h"
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#include <pybind11/pybind11.h>
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namespace py = pybind11;
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using StepControl = mujoco::platform::StepControl;
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PYBIND11_MODULE(sim, m) {
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py::module_::import("mujoco._structs");
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m.doc() = "MuJoCo platform simulation bindings for Link.";
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py::enum_<StepControl::Status>(m, "StepStatus")
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.value("OK", StepControl::Status::kOk)
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.value("PAUSED", StepControl::Status::kPaused)
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.value("VISCOUS_PAUSED", StepControl::Status::kViscousPaused)
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.value("AUTO_RESET", StepControl::Status::kAutoReset)
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.value("DIVERGED", StepControl::Status::kDiverged);
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py::enum_<StepControl::PauseState>(m, "PauseState")
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.value("UNPAUSED", StepControl::PauseState::kUnpaused)
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.value("NORMAL_PAUSED", StepControl::PauseState::kNormalPaused)
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.value("VISCOUS_PAUSED", StepControl::PauseState::kViscousPaused);
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py::class_<StepControl>(m, "StepControl")
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.def(py::init<>())
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.def(
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"advance",
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[](StepControl& self, py::object model_obj, py::object data_obj) {
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mjModel* m = nullptr;
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mjData* d = nullptr;
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if (!model_obj.is_none()) {
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m = py::cast<mujoco::python::MjModelWrapper&>(model_obj).get();
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}
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if (!data_obj.is_none()) {
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d = py::cast<mujoco::python::MjDataWrapper&>(data_obj).get();
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}
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py::gil_scoped_release no_gil;
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return self.Advance(m, d);
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},
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py::arg("model"), py::arg("data"),
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"Step physics forward, respecting speed settings and refresh budget.")
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.def("force_sync", &StepControl::ForceSync,
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"Ensures the next Advance() will synchronize time and step once.")
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.def("get_speed", &StepControl::GetSpeed,
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"Returns the desired simulation speed as a percentage of real time.")
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.def("get_speed_measured", &StepControl::GetSpeedMeasured,
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"Returns the measured simulation speed.")
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.def("set_speed", &StepControl::SetSpeed, py::arg("speed"),
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"Sets the desired speed (clamped to [0.1%, 100%]).")
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.def("set_pause_state", &StepControl::SetPauseState, py::arg("state"),
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"Sets the pause state of the simulation.")
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.def("get_pause_state", &StepControl::GetPauseState,
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"Returns the current pause state.")
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.def("request_single_step", &StepControl::RequestSingleStep,
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"Request a single step if paused.")
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.def(
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"get_noise_parameters",
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[](const StepControl& self) {
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float noise_scale, noise_rate;
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self.GetNoiseParameters(noise_scale, noise_rate);
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return std::make_tuple(noise_scale, noise_rate);
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},
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"Returns the noise parameters.")
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.def("set_noise_parameters", &StepControl::SetNoiseParameters,
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py::arg("noise_scale"), py::arg("noise_rate"),
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"Sets the noise parameters.");
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}
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