mujoco

# Copyright 2026 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
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"""Utility functions for Studio viewer implementations."""

import mujoco
from mujoco.experimental.studio import messages
from mujoco.experimental.studio import viewer_protocol
import numpy as np


def apply_perturb(
    viewer: viewer_protocol.Viewer,
    model: mujoco.MjModel | None,
    data: mujoco.MjData | None,
    is_paused: bool = False,
) -> None:
  """Apply perturbation to the model and send updated forces to the sim thread."""
  if model is None or data is None:
    return
  perturb = viewer.perturb
  if not is_paused:
    sig = int(mujoco.mjtState.mjSTATE_XFRC_APPLIED)
    size = mujoco.mj_stateSize(model, sig)
    zero_state = np.zeros(size, np.float64)
    mujoco.mj_setState(model, data, zero_state, sig)
    mujoco.mjv_applyPerturbPose(model, data, perturb, 0)
    mujoco.mjv_applyPerturbForce(model, data, perturb)
  else:
    mujoco.mjv_applyPerturbPose(model, data, perturb, 1)

  xfrc_sig: int = int(mujoco.mjtState.mjSTATE_XFRC_APPLIED)
  xfrc_size: int = mujoco.mj_stateSize(model, xfrc_sig)
  xfrc_state: np.ndarray = np.zeros(xfrc_size, np.float64)

  mujoco.mj_getState(model, data, xfrc_state, xfrc_sig)
  viewer.send_to_sim(
      messages.PerturbEvent(state=xfrc_state, state_sig=xfrc_sig)
  )