Add mjModel.sensor_intprm, integer parameters of sensors

PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6

Author: yuvaltassa

doc/APIreference/APIglobals.rst

@@ -444,6 +444,10 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - 5
      - 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
+     - The number of sensor parameters.
+       Determines the size of ``mjModel.sensor_intprm``.
    * - ``mjNSOLVER``
      - 200
      - The number of iterations where solver statistics can be stored in ``mjData.solver``. This array is used

doc/includes/references.h

@@ -1458,6 +1458,7 @@ struct mjModel_ {
   int*      sensor_objid;         // id of sensorized object                  (nsensor x 1)
   int*      sensor_reftype;       // type of reference frame (mjtObj)         (nsensor x 1)
   int*      sensor_refid;         // id of reference frame; -1: global frame  (nsensor x 1)
+  int*      sensor_intprm;        // sensor parameters                        (nsensor x mjNSENS)
   int*      sensor_dim;           // number of scalar outputs                 (nsensor x 1)
   int*      sensor_adr;           // address in sensor array                  (nsensor x 1)
   mjtNum*   sensor_cutoff;        // cutoff for real and positive; 0: ignore  (nsensor x 1)
@@ -2324,6 +2325,7 @@ typedef struct mjsSensor_ {        // sensor specification
   mjString* objname;               // name of sensorized object
   mjtObj reftype;                  // type of referenced object
   mjString* refname;               // name of referenced object
+  int intprm[mjNSENS];             // integer parameters
 
   // user-defined sensors
   mjtDataType datatype;            // data type for sensor measurement

include/mujoco/mjmodel.h

@@ -41,6 +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 mjNSOLVER       200       // size of one mjData.solver array
 #define mjNISLAND       20        // number of mjData.solver arrays
 
@@ -1130,6 +1131,7 @@ struct mjModel_ {
   int*      sensor_objid;         // id of sensorized object                  (nsensor x 1)
   int*      sensor_reftype;       // type of reference frame (mjtObj)         (nsensor x 1)
   int*      sensor_refid;         // id of reference frame; -1: global frame  (nsensor x 1)
+  int*      sensor_intprm;        // sensor parameters                        (nsensor x mjNSENS)
   int*      sensor_dim;           // number of scalar outputs                 (nsensor x 1)
   int*      sensor_adr;           // address in sensor array                  (nsensor x 1)
   mjtNum*   sensor_cutoff;        // cutoff for real and positive; 0: ignore  (nsensor x 1)

include/mujoco/mjspec.h

@@ -692,6 +692,7 @@ typedef struct mjsSensor_ {        // sensor specification
   mjString* objname;               // name of sensorized object
   mjtObj reftype;                  // type of referenced object
   mjString* refname;               // name of referenced object
+  int intprm[mjNSENS];             // integer parameters
 
   // user-defined sensors
   mjtDataType datatype;            // data type for sensor measurement

include/mujoco/mjxmacro.h

@@ -540,6 +540,7 @@
     X   ( int,     sensor_objid,          nsensor,       1                    ) \
     X   ( int,     sensor_reftype,        nsensor,       1                    ) \
     X   ( int,     sensor_refid,          nsensor,       1                    ) \
+    X   ( int,     sensor_intprm,         nsensor,       mjNSENS              ) \
     X   ( int,     sensor_dim,            nsensor,       1                    ) \
     X   ( int,     sensor_adr,            nsensor,       1                    ) \
     X   ( mjtNum,  sensor_cutoff,         nsensor,       1                    ) \

python/mujoco/introspect/structs.py

@@ -4149,6 +4149,14 @@
                  doc='id of reference frame; -1: global frame',
                  array_extent=('nsensor',),
              ),
+             StructFieldDecl(
+                 name='sensor_intprm',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='sensor parameters',
+                 array_extent=('nsensor', 'mjNSENS'),
+             ),
              StructFieldDecl(
                  name='sensor_dim',
                  type=PointerType(
@@ -10388,6 +10396,14 @@
                  ),
                  doc='name of referenced object',
              ),
+             StructFieldDecl(
+                 name='intprm',
+                 type=ArrayType(
+                     inner_type=ValueType(name='int'),
+                     extents=(2,),
+                 ),
+                 doc='integer parameters',
+             ),
              StructFieldDecl(
                  name='datatype',
                  type=ValueType(name='mjtDataType'),

src/user/user_model.cc

@@ -3454,6 +3454,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->sensor_objid[i] = psen->obj ? psen->obj->id : -1;
     m->sensor_reftype[i] = psen->reftype;
     m->sensor_refid[i] = psen->ref ? psen->ref->id : -1;
+    mjuu_copyvec(m->sensor_intprm+i*mjNSENS, psen->intprm, mjNSENS);
     m->sensor_dim[i] = psen->dim;
     m->sensor_cutoff[i] = (mjtNum)psen->cutoff;
     m->sensor_noise[i] = (mjtNum)psen->noise;

test/engine/engine_sensor_test.cc

@@ -544,7 +544,37 @@ TEST_F(SensorTest, Clock) {
   mj_deleteModel(model);
 }
 
-// test clock sensor
+// test that integer parameters pass through
+TEST_F(SensorTest, IntPrm) {
+  constexpr char xml[] = R"(
+  <mujoco>
+    <sensor>
+      <clock name="dummy"/>
+    </sensor>
+  </mujoco>
+  )";
+  ASSERT_EQ(mjNSENS, 2);
+
+  char err[1024];
+  mjSpec* spec = mj_parseXMLString(xml, 0, err, sizeof(err));
+  ASSERT_THAT(spec, NotNull()) << err;
+
+  mjModel* model = mj_compile(spec, nullptr);
+  EXPECT_EQ(model->sensor_intprm[0], 0);
+  EXPECT_EQ(model->sensor_intprm[1], 0);
+  mj_deleteModel(model);
+
+  mjsSensor* s = mjs_asSensor(mjs_findElement(spec, mjOBJ_SENSOR, "dummy"));
+  s->intprm[0] = 3;
+  s->intprm[1] = 4;
+  model = mj_compile(spec, nullptr);
+  EXPECT_EQ(model->sensor_intprm[0], 3);
+  EXPECT_EQ(model->sensor_intprm[1], 4);
+  mj_deleteModel(model);
+  mj_deleteSpec(spec);
+}
+
+// test sequential collision sensors
 TEST_F(SensorTest, CollisionSequential) {
   constexpr char xml[] = R"(
   <mujoco>

unity/Runtime/Bindings/MjBindings.cs

@@ -49,6 +49,7 @@ public static class MujocoLib {
 public const int mjNFLUID = 12;
 public const int mjNREF = 2;
 public const int mjNIMP = 5;
+public const int mjNSENS = 2;
 public const int mjNSOLVER = 200;
 public const int mjNISLAND = 20;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;
@@ -5683,6 +5684,7 @@ public unsafe struct mjModel_ {
   public int* sensor_objid;
   public int* sensor_reftype;
   public int* sensor_refid;
+  public int* sensor_intprm;
   public int* sensor_dim;
   public int* sensor_adr;
   public double* sensor_cutoff;