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
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+// 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.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  // The component represents a joint with 1 degree of translational freedom.
+  public class MjBallJoint : MjBaseJoint {
+    [Tooltip("In radians.")]
+    public float RangeUpper;
+
+    [Tooltip("Joint settings.")]
+    public MjJointSettings Settings = MjJointSettings.Default;
+
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      // Transform.
+      transform.localPosition =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
+
+      Settings.FromMjcf(mjcf);
+      var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
+      // rangeValues[0] is always 0 for ball joints.
+      RangeUpper = rangeValues[1];
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement("joint");
+      mjcf.SetAttribute("type", "ball");
+
+      MjEngineTool.PositionToMjcf(mjcf, this);
+
+      Settings.ToMjcf(mjcf);
+      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"0 {RangeUpper}"));
+
+      return mjcf;
+    }
+  }
+}
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+// 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.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public abstract class MjBaseJoint : MjComponent {
+    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_JOINT;
+
+    public int QposAddress { get; private set; } = -1;
+    public int DofAddress { get; private set; } = -1;
+    // Joint will add Degrees of Freedom to this MjBaseBody.
+    // It's the MjBaseBody located immediately above this joint in the scene tree.
+    // NOTE: This property won't be initialized until runtime.
+    public MjBaseBody ParentBody { get; private set; }
+
+    // Joint will constrain the ParentBody to this MjBaseBody.
+    // It's the MjBaseBody located two levels above this joint in the scene tree.
+    // For some joints, such as MjFreeJoint, this can be null.
+    // NOTE: This property won't be initialized until runtime.
+    public MjBaseBody GrandParentBody { get; private set; }
+
+    // Return the bodies connected by this joint.
+    public void GetConnectedBodies(out MjBaseBody grandParent, out MjBaseBody parent) {
+      parent = MjHierarchyTool.FindParentComponent<MjBaseBody>(this);
+      if (parent != null) {
+        grandParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(parent);
+      } else {
+        grandParent = null;
+      }
+    }
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      QposAddress = model->jnt_qposadr[MujocoId];
+      DofAddress = model->jnt_dofadr[MujocoId];
+    }
+
+    protected override void Start() {
+      base.Start();
+      MjBaseBody grandparentBody, parentBody;
+      GetConnectedBodies(out grandparentBody, out parentBody);
+      GrandParentBody = grandparentBody;
+      ParentBody = parentBody;
+      if (ParentBody == null) {
+        throw new Exception("The joint doesn't have a ParentBody.");
+      }
+    }
+  }
+}
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+// 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.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  // The component represents a joint with 6 degrees of freedom.
+  public class MjFreeJoint : MjBaseJoint {
+    protected override void OnParseMjcf(XmlElement mjcf) {}
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      return (XmlElement)doc.CreateElement("freejoint");
+    }
+  }
+}
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+// 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.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public class MjHingeJoint : MjBaseJoint {
+    [Tooltip("In degrees.")]
+    public float RangeLower;
+    [Tooltip("In degrees.")]
+    public float RangeUpper;
+
+    [Tooltip("The current joint angle, in degrees. Read-only at play time.")]
+    public float Configuration;
+
+    [Tooltip("Joint movement, in rad/sec. Read-only at play time.")]
+    public float Velocity;
+
+    [Tooltip("Joint settings.")]
+    public MjJointSettings Settings = MjJointSettings.Default;
+
+    // World space rotation axis.
+    public Vector3 RotationAxis => transform.rotation * Vector3.right;
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      base.OnBindToRuntime(model, data);
+      data->qvel[DofAddress] = Velocity;
+    }
+
+    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+      var qpos = (float)data->qpos[QposAddress];
+      Configuration = (qpos % (2 * Mathf.PI)) * Mathf.Rad2Deg;
+      Velocity = (float)data->qvel[DofAddress];
+    }
+
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      transform.localPosition =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
+
+      var rotationAxis =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("axis", defaultValue: Vector3.right));
+      transform.localRotation = Quaternion.FromToRotation(Vector3.right, rotationAxis);
+
+      var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
+      RangeLower = rangeValues[0];
+      RangeUpper = rangeValues[1];
+
+      if (!MjSceneImportSettings.AnglesInDegrees) {
+        RangeLower *= Mathf.Rad2Deg;
+        RangeUpper *= Mathf.Rad2Deg;
+      }
+
+      Configuration = mjcf.GetFloatAttribute("ref", 0.0f);
+
+      Settings.FromMjcf(mjcf);
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement("joint");
+      mjcf.SetAttribute("type", "hinge");
+
+      MjEngineTool.PositionAxisToMjcf(mjcf, this);
+
+      Settings.ToMjcf(mjcf);
+      if (RangeLower > RangeUpper) {
+        throw new ArgumentException("Lower range value can't be bigger than Higher");
+      }
+      mjcf.SetAttribute("range", $"{RangeLower} {RangeUpper}");
+      mjcf.SetAttribute("ref", $"{Configuration}");
+
+      return mjcf;
+    }
+  }
+}
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+// Copyright 2019 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  [Serializable]
+  public struct MjJointSettings {
+    [Tooltip("Added inertia of all DoFs created by this joint.")]
+    public float Armature;
+
+    [Tooltip("Joint spring settings.")]
+    public SpringSettings Spring;
+
+    [Tooltip("Joint solver settings.")]
+    public SolverSettings Solver;
+
+    // Default joint settings.
+    public static MjJointSettings Default = new MjJointSettings() {
+      Solver = SolverSettings.Default,
+    };
+
+    public void FromMjcf(XmlElement mjcf) {
+      Armature = mjcf.GetFloatAttribute("armature", 0.0f);
+      Spring.FromMjcf(mjcf);
+      Solver.FromMjcf(mjcf);
+    }
+
+    public void ToMjcf(XmlElement mjcf) {
+      mjcf.SetAttribute("armature", MjEngineTool.MakeLocaleInvariant($"{Armature}"));
+      Spring.ToMjcf(mjcf);
+      Solver.ToMjcf(mjcf);
+    }
+  }
+
+  [Serializable]
+  public struct SpringSettings {
+    public float TimeConstant;
+    public float DampingRatio;
+
+    [Tooltip("Joint stiffness. If this value is positive, a spring will be created.")]
+    public float Stiffness;
+    [Tooltip("Damping applied to all degrees of freedom created by this joint.")]
+    public float Damping;
+
+    [Tooltip("Spring equilibrium pose.")]
+    public float EquilibriumPose;
+
+    public void ToMjcf(XmlElement mjcf) {
+      // Spring settings.
+      mjcf.SetAttribute("springref", MjEngineTool.MakeLocaleInvariant($"{EquilibriumPose}"));
+      mjcf.SetAttribute("springdamper", MjEngineTool.MakeLocaleInvariant($"{TimeConstant} {DampingRatio}"));
+      mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
+      mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
+    }
+
+    public void FromMjcf(XmlElement mjcf) {
+      var springDamper = mjcf.GetVector2Attribute("springdamper", Vector2.zero);
+      TimeConstant = springDamper.x;
+      DampingRatio = springDamper.y;
+      EquilibriumPose = mjcf.GetFloatAttribute("springref", 0.0f);
+      Damping = mjcf.GetFloatAttribute("damping", 0.0f);
+      Stiffness = mjcf.GetFloatAttribute("stiffness", 0.0f);
+    }
+  }
+
+  [Serializable]
+  public struct SolverImpedance {
+    public float DMin;
+    public float DMax;
+    public float Width;
+    public float Midpoint;
+    public float Power;
+
+    public static SolverImpedance Default =
+        new SolverImpedance() { DMin = 0.9f, DMax = 0.95f, Width = 0.001f, Midpoint = 0.5f,
+                                Power = 2.0f };
+
+    public void FromMjcf(XmlElement element, string attributeName) {
+      var values = element.GetFloatArrayAttribute(
+          attributeName, new float[] { Default.DMin, Default.DMax, Default.Width, Default.Midpoint,
+                                       Default.Power });
+      DMin = values[0];
+      DMax = values[1];
+      Width = values[2];
+      Midpoint = values[3];
+      Power = values[4];
+    }
+
+    public void ToMjcf(XmlElement element, string attributeName) {
+      element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{DMin} {DMax} {Width} {Midpoint} {Power}"));
+    }
+  }
+
+  [Serializable]
+  public struct SolverReference {
+    public float TimeConst;
+    public float DampRatio;
+
+    public static SolverReference Default =
+        new SolverReference() { TimeConst = 0.02f, DampRatio = 1.0f };
+
+    public void FromMjcf(XmlElement element, string attributeName) {
+      var values = element.GetFloatArrayAttribute(
+          attributeName, new float[] { Default.TimeConst, Default.DampRatio });
+      TimeConst = values[0];
+      DampRatio = values[1];
+    }
+
+    public void ToMjcf(XmlElement element, string attributeName) {
+      element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{TimeConst} {DampRatio}"));
+    }
+  }
+
+  [Serializable]
+  public struct SolverSettings {
+    [Tooltip("Does the joint have limits.")]
+    public bool Limited;
+
+    [Tooltip("Limit margin - always in radians/meters.")]
+    public float Margin;
+    public SolverReference RefLimit;
+    public SolverImpedance ImpLimit;
+
+    [Tooltip("Friction loss due to dry friction.")]
+    public float FrictionLoss;
+    public SolverImpedance ImpFriction;
+    public SolverReference RefFriction;
+
+    public static SolverSettings Default = new SolverSettings() {
+      ImpFriction = SolverImpedance.Default,
+      ImpLimit = SolverImpedance.Default,
+      RefFriction = SolverReference.Default,
+      RefLimit = SolverReference.Default,
+    };
+
+    public void ToMjcf(XmlElement mjcf) {
+      RefLimit.ToMjcf(mjcf, "solreflimit");
+      ImpLimit.ToMjcf(mjcf, "solimplimit");
+      RefFriction.ToMjcf(mjcf, "solreffriction");
+      ImpFriction.ToMjcf(mjcf, "solimpfriction");
+      mjcf.SetAttribute("frictionloss", MjEngineTool.MakeLocaleInvariant($"{FrictionLoss}"));
+      mjcf.SetAttribute("limited", $"{Limited}".ToLower());
+      mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Margin}"));
+    }
+
+    public void FromMjcf(XmlElement mjcf) {
+      RefLimit.FromMjcf(mjcf, "solreflimit");
+      ImpLimit.FromMjcf(mjcf, "solimplimit");
+      RefFriction.FromMjcf(mjcf, "solreffriction");
+      ImpFriction.FromMjcf(mjcf, "solimpfriction");
+      FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
+      Limited = mjcf.GetBoolAttribute("limited", false);
+      Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
+    }
+  }
+}
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+// 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.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  // The component represents a joint with 1 degree of translational freedom.
+  public class MjSlideJoint : MjBaseJoint {
+    [Tooltip("In meters.")]
+    public float RangeLower;
+    [Tooltip("In meters.")]
+    public float RangeUpper;
+
+    [Tooltip("The current joint angle, in degrees. Read-only at play time.")]
+    public float Configuration;
+
+    [Tooltip("Joint movement, in rad/sec. Read-only at play time.")]
+    public float Velocity;
+
+    [Tooltip("Joint settings.")]
+    public MjJointSettings Settings = MjJointSettings.Default;
+
+    // World space slide axis.
+    public Vector3 SlideAxis => transform.rotation * Vector3.right;
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      base.OnBindToRuntime(model, data);
+      data->qvel[DofAddress] = Velocity;
+    }
+
+    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+      var qpos = (float)data->qpos[QposAddress];
+      Configuration = (qpos % (2 * Mathf.PI)) * Mathf.Rad2Deg;
+      Velocity = (float)data->qvel[DofAddress];
+    }
+
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      // Transform.
+      transform.localPosition =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
+
+      var rotationAxis =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("axis", defaultValue: Vector3.right));
+      transform.localRotation = Quaternion.FromToRotation(Vector3.right, rotationAxis);
+
+      var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
+      RangeLower = rangeValues[0];
+      RangeUpper = rangeValues[1];
+
+      Configuration = mjcf.GetFloatAttribute("ref", 0.0f);
+
+      Settings.FromMjcf(mjcf);
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement("joint");
+      mjcf.SetAttribute("type", "slide");
+
+      MjEngineTool.PositionAxisToMjcf(mjcf, this);
+
+      Settings.ToMjcf(mjcf);
+      if (RangeLower > RangeUpper) {
+        throw new ArgumentException("Lower range value can't be bigger than Higher");
+      }
+      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
+      mjcf.SetAttribute("ref", MjEngineTool.MakeLocaleInvariant($"{Configuration}"));
+
+      return mjcf;
+    }
+  }
+}
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