Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,47 @@
+// Copyright 2019 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
+//
+//      http://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,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public abstract class MjBaseConstraint : MjComponent {
+    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EQUALITY;
+
+    protected abstract string _constraintName { get; }
+
+    public SolverImpedance SolverImpedanceSettings = SolverImpedance.Default;
+    public SolverReference SolverReferenceSettings = SolverReference.Default;
+
+    protected abstract void ToMjcf(XmlElement mjcf);
+    protected abstract void FromMjcf(XmlElement mjcf);
+
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      FromMjcf(mjcf);
+      SolverReferenceSettings.FromMjcf(mjcf, "solref");
+      SolverImpedanceSettings.FromMjcf(mjcf, "solimp");
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement(_constraintName);
+      ToMjcf(mjcf);
+      SolverReferenceSettings.ToMjcf(mjcf, "solref");
+      SolverImpedanceSettings.ToMjcf(mjcf, "solimp");
+      return mjcf;
+    }
+  }
+}
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: a34f7c43f90c84e64a45942e605c0a2b
+timeCreated: 1552309644
+licenseType: Pro
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,51 @@
+// Copyright 2019 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
+//
+//      http://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,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public class MjConnect : MjBaseConstraint {
+    public MjBaseBody Body1;
+    public MjBaseBody Body2;
+    protected override string _constraintName => "connect";
+
+    protected override void FromMjcf(XmlElement mjcf) {
+      Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
+      Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
+      if (mjcf.GetStringAttribute("anchor") != null) {
+        Debug.Log($"anchor in connect {name} ignored. Set Transforms in the editor.");
+      }
+    }
+
+    // Generate implementation specific XML element.
+    protected override void ToMjcf(XmlElement mjcf) {
+      if (Body1 == null || Body2 == null) {
+        throw new NullReferenceException($"Both bodies in connect {name} are required.");
+      }
+      mjcf.SetAttribute("body1", Body1.MujocoName);
+      mjcf.SetAttribute("body2", Body2.MujocoName);
+    }
+
+    public void OnValidate() {
+      if (Body1 != null && Body1 == Body2) {
+        Debug.LogError("Body1 and Body2 can't be the same - resetting Body2.", this);
+        Body2 = null;
+      }
+    }
+  }
+}
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: ee6081d65578643bf8a26f200299a51a
+timeCreated: 1552313909
+licenseType: Pro
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,48 @@
+// Copyright 2019 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
+//
+//      http://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,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public class MjDistance : MjBaseConstraint {
+    public MjGeom Geom1;
+    public MjGeom Geom2;
+    protected override string _constraintName => "distance";
+
+    protected override void FromMjcf(XmlElement mjcf) {
+      Geom1 = mjcf.GetObjectReferenceAttribute<MjGeom>("geom1");
+      Geom2 = mjcf.GetObjectReferenceAttribute<MjGeom>("geom2");
+    }
+
+    protected override void ToMjcf(XmlElement mjcf) {
+      if (Geom1 == null || Geom2 == null) {
+        throw new NullReferenceException($"Both geoms in distance {name} must be assigned.");
+      }
+
+      mjcf.SetAttribute("geom1", Geom1.MujocoName);
+      mjcf.SetAttribute("geom2", Geom2.MujocoName);
+    }
+
+    public void OnValidate() {
+      if (Geom1 != null && Geom1 == Geom2) {
+        Debug.LogError("Geom1 and Geom2 can't be the same - resetting Geom2.", this);
+        Geom2 = null;
+      }
+    }
+  }
+}
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: ad0689a32f102481fb189836c11931f9
+timeCreated: 1552309644
+licenseType: Pro
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,59 @@
+// Copyright 2019 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
+//
+//      http://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,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public class MjJointConstraint : MjBaseConstraint {
+    [Tooltip("Mandatory.")]
+    public MjBaseJoint Joint1;
+
+    [Tooltip("Optional - if empty, constrain the value of Joint1")]
+    public MjBaseJoint Joint2;
+
+    public float[] PolynomialCoefficients = new float[5] { 0, 1, 0, 0, 0 };
+    protected override string _constraintName => "joint";
+
+    protected override void FromMjcf(XmlElement mjcf) {
+      Joint1 = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint1");
+      Joint2 = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint2");
+      PolynomialCoefficients =
+          mjcf.GetFloatArrayAttribute("polycoef", defaultValue: new float[] { 0, 1, 0, 0, 0 });
+    }
+
+    // Generate implementation specific XML element.
+    protected override void ToMjcf(XmlElement mjcf) {
+      if (Joint1 == null) {
+        throw new NullReferenceException($"At least Joint1 in constraint {name} must be assigned.");
+      }
+
+      mjcf.SetAttribute("joint1", Joint1.MujocoName);
+      if (Joint2 != null) {
+        mjcf.SetAttribute("joint2", Joint2.MujocoName);
+      }
+      mjcf.SetAttribute("polycoef", MjEngineTool.ArrayToMjcf(PolynomialCoefficients));
+    }
+
+    public void OnValidate() {
+      if (Joint1 != null && Joint1 == Joint2) {
+        Debug.LogError("Joint1 and Joint2 can't be the same - resetting Joint2.", this);
+        Joint2 = null;
+      }
+    }
+  }
+}
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 1cf109d843189466880870d026d0c2c7
+timeCreated: 1552309644
+licenseType: Pro
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,57 @@
+// Copyright 2019 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
+//
+//      http://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,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public class MjTendonConstraint : MjBaseConstraint {
+    public MjBaseTendon Tendon1;
+    public MjBaseTendon Tendon2;
+    public float[] PolynomialCoefficients = new float[5] { 0, 1, 0, 0, 0 };
+    protected override string _constraintName => "tendon";
+
+    protected override void FromMjcf(XmlElement mjcf) {
+      Tendon1 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon1");
+      Tendon2 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon2");
+      PolynomialCoefficients =
+          mjcf.GetFloatArrayAttribute("polycoef", new Single[] { 0, 1, 0, 0, 0 });
+    }
+
+    // Generate implementation specific XML element.
+    protected override void ToMjcf(XmlElement mjcf) {
+      if (Tendon1 == null) {
+        throw new NullReferenceException(
+            $"At least Tendon1 in constraint {name} must be assigned.");
+      }
+
+      mjcf.SetAttribute("tendon1", Tendon1.MujocoName);
+      if (Tendon2 != null) {
+        mjcf.SetAttribute("tendon2", Tendon2.MujocoName);
+      }
+      mjcf.SetAttribute("polycoef", MjEngineTool.ArrayToMjcf(PolynomialCoefficients));
+    }
+
+    public void OnValidate() {
+      if (Tendon1 != null && Tendon1 == Tendon2) {
+        Debug.LogWarning(
+            "Tendon1 and Tendon2 can't be the same - resetting Tendon2.", this);
+        Tendon2 = null;
+      }
+    }
+  }
+}
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 81536160634694c9f8b78d0de2fe6fde
+timeCreated: 1552309644
+licenseType: Pro
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,61 @@
+// Copyright 2019 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
+//
+//      http://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,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public class MjWeld : MjBaseConstraint {
+    public MjBaseBody Body1;
+    public MjBaseBody Body2;
+    public Transform WeldOffset;
+    protected override string _constraintName => "weld";
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      if (WeldOffset) {
+        MjEngineTool.SetMjTransform(model->eq_data, WeldOffset.localPosition,
+                                    WeldOffset.localRotation, MujocoId);
+      }
+    }
+
+    protected override void FromMjcf(XmlElement mjcf) {
+      Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
+      Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
+      var relpose = mjcf.GetStringAttribute("relpose");
+      if (relpose != null) {
+        Debug.Log(
+            $"relpose {relpose} in weld {name} ignored. Set WeldOffset in the editor.");
+      }
+    }
+
+    protected override void ToMjcf(XmlElement mjcf) {
+      if (Body1 == null || Body2 == null) {
+        throw new NullReferenceException($"Both bodies in weld {name} must be assigned.");
+      }
+
+      mjcf.SetAttribute("body1", Body1.MujocoName);
+      mjcf.SetAttribute("body2", Body2.MujocoName);
+    }
+
+    public void OnValidate() {
+      if (Body1 != null && Body1 == Body2) {
+        Debug.LogWarning("Body1 and Body2 can't be the same - resetting Body2.", this);
+        Body2 = null;
+      }
+    }
+  }
+}
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: b6f83e13e2c454767a785a138674c84f
+timeCreated: 1550663136
+licenseType: Pro
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: