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Implement plugin mechanism for actuators and sensors.

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PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
This commit is contained in:
Saran Tunyasuvunakool
2022-09-16 12:20:56 -07:00
committed by Copybara-Service
parent f556d4d94f
commit 1e2a9a53bc
29 changed files with 2121 additions and 51 deletions
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unity/Runtime/Bindings/MujocoBindings.cs
+26 -1
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@@ -49,6 +49,7 @@ public const int mjNFLUID = 12;
public const int mjNREF = 2;
public const int mjNIMP = 5;
public const int mjNSOLVER = 1000;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;
public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
public const int mjNAUX = 10;
public const int mjMAXTEXTURE = 1000;
@@ -282,6 +283,7 @@ public enum mjtObj : int{
mjOBJ_TEXT = 21,
mjOBJ_TUPLE = 22,
mjOBJ_KEY = 23,
mjOBJ_PLUGIN = 24,
}
public enum mjtConstraint : int{
mjCNSTR_EQUALITY = 0,
@@ -337,7 +339,8 @@ public enum mjtSensor : int{
mjSENS_SUBTREELINVEL = 33,
mjSENS_SUBTREEANGMOM = 34,
mjSENS_CLOCK = 35,
mjSENS_USER = 36,
mjSENS_PLUGIN = 36,
mjSENS_USER = 37,
}
public enum mjtStage : int{
mjSTAGE_NONE = 0,
@@ -357,6 +360,10 @@ public enum mjtLRMode : int{
mjLRMODE_MUSCLEUSER = 2,
mjLRMODE_ALL = 3,
}
public enum mjtPluginTypeBit : int{
mjPLUGIN_ACTUATOR = 1,
mjPLUGIN_SENSOR = 2,
}
public enum mjtGridPos : int{
mjGRID_TOPLEFT = 0,
mjGRID_TOPRIGHT = 1,
@@ -541,6 +548,7 @@ public unsafe struct mjSolverStat_ {
public unsafe struct mjData_ {
public int nstack;
public int nbuffer;
public int nplugin;
public int pstack;
public int maxuse_stack;
public int maxuse_con;
@@ -1581,6 +1589,7 @@ public unsafe struct mjData_ {
public double* qvel;
public double* act;
public double* qacc_warmstart;
public double* plugin_state;
public double* ctrl;
public double* qfrc_applied;
public double* xfrc_applied;
@@ -1590,6 +1599,8 @@ public unsafe struct mjData_ {
public double* act_dot;
public double* userdata;
public double* sensordata;
public int* plugin;
public UIntPtr* plugin_data;
public double* xpos;
public double* xquat;
public double* xmat;
@@ -1883,6 +1894,8 @@ public unsafe struct mjModel_ {
public int ntupledata;
public int nkey;
public int nmocap;
public int nplugin;
public int npluginattr;
public int nuser_body;
public int nuser_jnt;
public int nuser_geom;
@@ -1900,6 +1913,7 @@ public unsafe struct mjModel_ {
public int nstack;
public int nuserdata;
public int nsensordata;
public int npluginstate;
public int nbuffer;
public mjOption_ opt;
public mjVisual_ vis;
@@ -2126,6 +2140,7 @@ public unsafe struct mjModel_ {
public double* actuator_length0;
public double* actuator_lengthrange;
public double* actuator_user;
public int* actuator_plugin;
public int* sensor_type;
public int* sensor_datatype;
public int* sensor_needstage;
@@ -2138,6 +2153,11 @@ public unsafe struct mjModel_ {
public double* sensor_cutoff;
public double* sensor_noise;
public double* sensor_user;
public int* sensor_plugin;
public int* plugin;
public int* plugin_stateadr;
public char* plugin_attr;
public int* plugin_attradr;
public int* numeric_adr;
public int* numeric_size;
public double* numeric_data;
@@ -2177,6 +2197,7 @@ public unsafe struct mjModel_ {
public int* name_textadr;
public int* name_tupleadr;
public int* name_keyadr;
public int* name_pluginadr;
public char* names;
}
@@ -3000,6 +3021,10 @@ public static unsafe extern double mj_getTotalmass(mjModel_* m);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_setTotalmass(mjModel_* m, double newmass);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.LPStr)]
public static unsafe extern string mj_getPluginConfig(mjModel_* m, int plugin_id, [MarshalAs(UnmanagedType.LPStr)]string attrib);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_version();