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 +1,54 @@
+// 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 MjActuatorScalarSensor : MjBaseSensor {
+  // NOTE: These names must match sensor names listed on mujoco.org.
+  // Changing them is justified only when Mujoco is upgraded to a new version.
+  public enum AvailableSensors {
+    ActuatorPos,
+    ActuatorVel,
+    ActuatorFrc,
+  }
+  public AvailableSensors SensorType;
+  public MjActuator Actuator;
+
+  public double SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Actuator == null) {
+      throw new NullReferenceException("Missing a reference to a MjActuator.");
+    }
+    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
+    mjcf.SetAttribute("actuator", Actuator.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
+      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
+    }
+    Actuator = mjcf.GetObjectReferenceAttribute<MjActuator>("actuator");
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = data->sensordata[_sensorAddress];
+  }
+}
+}
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@@ -0,0 +1,80 @@
+// 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 {
+
+// The base class for Mujoco sensors.
+//
+// Mujoco offers a very wide range of sensors, each contingent on the following three aspects:
+//  1. the Mujoco Component it observes: Body, Joint, etc.
+//  2. the type of data it returns: scalar, Vector3, quaternion, etc.
+//  3. the field it reads to retreive the data: xpos, xquat, cfrc, etc.
+//
+// In Mujoco proper, names of some of the sensors repeat for many data types. In order to get rid
+// of this ambiguity, we chose to split the sensors into groups.
+// Each sensor class represents a group of aspects (1) and (2), which is reflected in its name.
+// For example, the class of sensors that listen to Bodies and produce Vector3 observations is
+// called MjBodyVectorSensor.
+//
+// That very class contains a wide range of sensing capabilities - as in fact most of the classes
+// do. What each sensor can sense can be controlled by the sensor's Type field. Using the
+// MjBodyVectorSensor as an example, one can set it to SubtreeCom, FramePos or any of the other
+// supported observation types.
+public abstract class MjBaseSensor : MjComponent {
+
+  [Tooltip("The standard deviation of zero-mean Gaussian noise added to the sensor output.")]
+  [AbsoluteValue]
+  public float Noise = 0.0f;
+
+  [Tooltip("When this value is positive, it limits the absolute value of the sensor output.")]
+  [AbsoluteValue]
+  public float Cutoff = 0.0f;
+
+  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_SENSOR;
+
+  // Address of the sensor, that can be used to index into MujocoLib.mjData_.sensordata.
+  protected int _sensorAddress;
+
+  // Parse the component settings from an external Mjcf.
+  protected override void OnParseMjcf(XmlElement mjcf) {
+    Noise = mjcf.GetFloatAttribute("noise", defaultValue: 0.0f);
+    Cutoff = mjcf.GetFloatAttribute("cutoff", defaultValue: 0.0f);
+    FromMjcf(mjcf);
+  }
+
+  // Generate implementation specific XML element.
+  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+    var mjcf = ToMjcf(doc);
+    mjcf.SetAttribute("noise", Noise.ToString());
+    mjcf.SetAttribute("cutoff", Cutoff.ToString());
+    return mjcf;
+  }
+
+  // Perform bind time initialization of the component.
+  protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+    _sensorAddress = model->sensor_adr[MujocoId];
+  }
+
+  // Create the implementation dependent Mjcf node.
+  protected abstract XmlElement ToMjcf(XmlDocument doc);
+
+  // Parse the implementation dependent details from the provided Mjcf node.
+  protected abstract void FromMjcf(XmlElement mjcf);
+}
+}
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@@ -0,0 +1,52 @@
+// 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 MjBodyQuaternionSensor : MjBaseSensor {
+  public MjBody Body;
+
+  [Tooltip("Should the Frame sensors use the inertial or the regular frame of reference.")]
+  public bool UseInertialFrame;
+
+  public Quaternion SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Body == null) {
+      throw new NullReferenceException("Missing a reference to a MjBody.");
+    }
+    var mjcf = doc.CreateElement("framequat");
+    mjcf.SetAttribute("objtype", UseInertialFrame ? "body" : "xbody");
+    mjcf.SetAttribute("objname", Body.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    UseInertialFrame = mjcf.HasAttribute("body");
+    Body = mjcf.GetObjectReferenceAttribute<MjBody>("objname");
+    if (Body == null) {
+      throw new NullReferenceException("Missing a reference to a MjBody.");
+    }
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = MjEngineTool.UnityQuaternion(data->sensordata, _sensorAddress);
+  }
+}
+}
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@@ -0,0 +1,77 @@
+// 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 MjBodyVectorSensor : MjBaseSensor {
+  // NOTE: These names must match sensor names listed on mujoco.org.
+  // Changing them is justified only when Mujoco is upgraded to a new version.
+  public enum AvailableSensors {
+    SubtreeCom,
+    SubtreeLinVel,
+    SubtreeAngMom,
+    FramePos,
+    FrameXAxis,
+    FrameYAxis,
+    FrameZAxis,
+    FrameLinVel,
+    FrameAngVel,
+    FrameLinAcc,
+    FrameAngAcc,
+  }
+  public AvailableSensors SensorType;
+  public MjBody Body;
+
+  [Tooltip("Should the Frame sensors use the inertial or the regular frame of reference.")]
+  public bool UseInertialFrame;
+
+  public Vector3 SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Body == null) {
+      throw new NullReferenceException("Missing a reference to a MjBody.");
+    }
+    var tag = SensorType.ToString().ToLower();
+    var mjcf = doc.CreateElement(tag);
+    if (tag.Contains("frame")) {
+      mjcf.SetAttribute("objtype", UseInertialFrame ? "body" : "xbody");
+      mjcf.SetAttribute("objname", Body.MujocoName);
+    } else {
+      mjcf.SetAttribute("body", Body.MujocoName);
+    }
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
+      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
+    }
+    if (mjcf.Name.Contains("frame")) {
+      UseInertialFrame = mjcf.HasAttribute("body"); // as opposed to xbody
+      Body = mjcf.GetObjectReferenceAttribute<MjBody>("objname");
+    } else {
+      Body = mjcf.GetObjectReferenceAttribute<MjBody>("body");
+    }
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress);
+  }
+}
+}
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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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+public class MjGeomQuaternionSensor : MjBaseSensor {
+  public MjGeom Geom;
+
+  public Quaternion SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Geom == null) {
+      throw new NullReferenceException("Missing a reference to a MjGeom.");
+    }
+    var mjcf = doc.CreateElement("framequat");
+    mjcf.SetAttribute("objtype", "geom");
+    mjcf.SetAttribute("objname", Geom.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    Geom = mjcf.GetObjectReferenceAttribute<MjGeom>("objname");
+    if (Geom == null) {
+      throw new NullReferenceException("Missing a reference to a MjGeom.");
+    }
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = MjEngineTool.UnityQuaternion(data->sensordata, _sensorAddress);
+  }
+}
+}
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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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+public class MjGeomVectorSensor : MjBaseSensor {
+  // NOTE: These names must match sensor names listed on mujoco.org.
+  // Changing them is justified only when Mujoco is upgraded to a new version.
+  public enum AvailableSensors {
+    FramePos,
+    FrameXAxis,
+    FrameYAxis,
+    FrameZAxis,
+    FrameLinVel,
+    FrameAngVel,
+    FrameLinAcc,
+    FrameAngAcc,
+  }
+
+  public AvailableSensors SensorType;
+
+  public MjGeom Geom;
+
+  public Vector3 SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Geom == null) {
+      throw new NullReferenceException("Missing a reference to a MjGeom.");
+    }
+    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
+    mjcf.SetAttribute("objtype", "geom");
+    mjcf.SetAttribute("objname", Geom.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
+      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
+    }
+    Geom = mjcf.GetObjectReferenceAttribute<MjGeom>("objname");
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress);
+  }
+}
+}
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+// Copyright 2019 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+public class MjJointScalarSensor : MjBaseSensor {
+  // NOTE: These names must match sensor names listed on mujoco.org.
+  // Changing them is justified only when Mujoco is upgraded to a new version.
+  public enum AvailableSensors {
+    JointPos,
+    JointVel,
+    JointLimitPos,
+    JointLimitVel,
+    JointLimitFrc,
+  }
+  public AvailableSensors SensorType;
+  public MjBaseJoint Joint;
+
+  public double SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Joint == null) {
+      throw new NullReferenceException("Missing a reference to a Joint.");
+    }
+    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
+    mjcf.SetAttribute("joint", Joint.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
+      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
+    }
+    Joint = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint");
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+     SensorReading = data->sensordata[_sensorAddress];
+  }
+}
+}
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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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+public class MjSiteQuaternionSensor : MjBaseSensor {
+
+  public MjSite Site;
+
+  public Quaternion SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Site == null) {
+      throw new NullReferenceException("Missing a reference to a MjSite.");
+    }
+    var mjcf = doc.CreateElement("framequat");
+    mjcf.SetAttribute("objtype", "site");
+    mjcf.SetAttribute("objname", Site.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    Site = mjcf.GetObjectReferenceAttribute<MjSite>("objname");
+    if (Site == null) {
+      throw new NullReferenceException("Missing a reference to a MjSite.");
+    }
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = MjEngineTool.UnityQuaternion(data->sensordata, _sensorAddress);
+  }
+}
+}
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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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+public class MjSiteScalarSensor : MjBaseSensor {
+  // NOTE: These names must match sensor names listed on mujoco.org.
+  // Changing them is justified only when Mujoco is upgraded to a new version.
+  public enum AvailableSensors {
+    Touch,
+    RangeFinder,
+  }
+  public AvailableSensors SensorType;
+  public MjSite Site;
+
+  public double SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Site == null) {
+      throw new NullReferenceException("Missing a reference to a MjSite.");
+    }
+    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
+    mjcf.SetAttribute("site", Site.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
+      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
+    }
+    Site = mjcf.GetObjectReferenceAttribute<MjSite>("site");
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = data->sensordata[_sensorAddress];
+  }
+}
+}
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+MonoImporter:
+  externalObjects: {}
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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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+public class MjSiteVectorSensor : MjBaseSensor {
+  // NOTE: These names must match sensor names listed on mujoco.org.
+  // Changing them is justified only when Mujoco is upgraded to a new version.
+  public enum AvailableSensors {
+    Accelerometer,
+    Velocimeter,
+    Gyro,
+    Force,
+    Torque,
+    Magnetometer,
+    FramePos,
+    FrameXAxis,
+    FrameYAxis,
+    FrameZAxis,
+    FrameLinVel,
+    FrameAngVel,
+    FrameLinAcc,
+    FrameAngAcc,
+  }
+  public AvailableSensors SensorType;
+  public MjSite Site;
+
+  public Vector3 SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Site == null) {
+      throw new NullReferenceException("Missing a reference to a MjSite.");
+    }
+    var tag = SensorType.ToString().ToLower();
+    var mjcf = doc.CreateElement(tag);
+    if (tag.Contains("frame")) {
+      mjcf.SetAttribute("objtype", "site");
+      mjcf.SetAttribute("objname", Site.MujocoName);
+    } else {
+      mjcf.SetAttribute("site", Site.MujocoName);
+    }
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
+      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
+    }
+    if (mjcf.Name.Contains("frame")) {
+      Site = mjcf.GetObjectReferenceAttribute<MjSite>("objname");
+    } else {
+      Site = mjcf.GetObjectReferenceAttribute<MjSite>("site");
+    }
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress);
+  }
+}
+}
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