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sysid: avoid mutating input in apply_delay #3473

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sysid: avoid mutating input in apply_delay #3473

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4 changes: 3 additions & 1 deletion python/mujoco/sysid/_src/signal_modifier.py
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,9 @@ def apply_delay(
)
ts_sensor_delayed = ts_sensor.resample(ts.times - delay.value)

ts_delayed = timeseries.TimeSeries(ts.times, ts.data, ts.signal_mapping)
ts_delayed = timeseries.TimeSeries(
ts.times, ts.data.copy(), ts.signal_mapping
)
ts_delayed.data[:, indices] = ts_sensor_delayed.data

return ts_delayed
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18 changes: 18 additions & 0 deletions python/mujoco/sysid/tests/test_signal.py
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Original file line number Diff line number Diff line change
Expand Up @@ -158,6 +158,24 @@ def test_apply_bias(arm_model):
np.testing.assert_array_equal(result.data[:, other], ts.data[:, other])


# ===========================================================================
# signal_modifier: apply_delay
# ===========================================================================


def test_apply_delay_does_not_modify_input(arm_model):
"""Delaying a sensor leaves the input timeseries unchanged."""
ts = _make_arm_sensor_ts(arm_model)
data = ts.data.copy()
delay = parameter.Parameter("delay", 0.1, 0.0, 0.2)

result = signal_modifier.apply_delay(ts, "joint1_pos", delay)

np.testing.assert_array_equal(ts.data, data)
idx = ts.get_indices("joint1_pos")[1]
assert not np.array_equal(result.data[:, idx], data[:, idx])


# ===========================================================================
# signal_modifier: apply_delayed_ts_window
# ===========================================================================
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