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 {
+
+public abstract class MjBaseTendon : MjComponent {
+
+  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_TENDON;
+
+  public SolverSettings Solver = SolverSettings.Default;
+
+  [Tooltip("Length at zero spring force. If negative, this resting length is computed at qpos0.")]
+  public float SpringLength = -1.0f;
+  public float Stiffness = 0.0f;
+  public float Damping = 0.0f;
+
+  // Tendon length.
+  public float Length { get; private set; }
+
+  // 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);
+
+  // Parse the component settings from an external Mjcf.
+  protected override void OnParseMjcf(XmlElement mjcf) {
+    Solver.FromMjcf(mjcf);
+    SpringLength = mjcf.GetFloatAttribute("springlength", defaultValue: -1.0f);
+    Stiffness = mjcf.GetFloatAttribute("damping");
+    Damping = mjcf.GetFloatAttribute("stiffness");
+    FromMjcf(mjcf);
+  }
+
+  // Generate implementation specific XML element.
+  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+    var mjcf = ToMjcf(doc);
+    Solver.ToMjcf(mjcf);
+    mjcf.SetAttribute("springlength", MjEngineTool.MakeLocaleInvariant($"{SpringLength}"));
+    mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
+    mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
+    return mjcf;
+  }
+
+  // Synchronize the state of the component.
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    Length = (float)data->ten_length[MujocoId];
+  }
+}
+}
@@ -0,0 +1,13 @@
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@@ -0,0 +1,81 @@
+// 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.Collections.Generic;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+[Serializable]
+public class FixedTendonEntry {
+  [Tooltip("Only scalar joints can be used - hinge and slide.")]
+  public MjBaseJoint Joint;
+
+  [Tooltip("Multiplier for the value of the joint.")]
+  public float Coefficient = 1.0f;
+}
+
+public class MjFixedTendon : MjBaseTendon {
+
+  [Tooltip("In (scaled) radians/meters.")]
+  public float RangeLower;
+  [Tooltip("In (scaled) radians/meters.")]
+  public float RangeUpper;
+
+  public List<FixedTendonEntry> JointList = new List<FixedTendonEntry>() {};
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
+      var fixedTendonEntry = new FixedTendonEntry();
+      fixedTendonEntry.Joint = child.GetObjectReferenceAttribute<MjBaseJoint>("joint");
+      fixedTendonEntry.Coefficient = child.GetFloatAttribute("coef", defaultValue: 1.0f);
+      JointList.Add(fixedTendonEntry);
+    }
+    var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
+    RangeLower = rangeValues[0];
+    RangeUpper = rangeValues[1];
+  }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (JointList.Count < 1) {
+      throw new ArgumentOutOfRangeException($"Fixed tendon {name} needs at least one joint.");
+    }
+    var mjcf = doc.CreateElement("fixed");
+    foreach (FixedTendonEntry fixedTendonEntry in JointList) {
+      var jointMjcf = doc.CreateElement("joint");
+      jointMjcf.SetAttribute("joint", fixedTendonEntry.Joint.MujocoName);
+      jointMjcf.SetAttribute("coef", MjEngineTool.MakeLocaleInvariant($"{fixedTendonEntry.Coefficient}"));
+      mjcf.AppendChild(jointMjcf);
+    }
+    if (RangeLower > RangeUpper) {
+      throw new ArgumentException("Lower range value can't be bigger than Higher");
+    }
+    mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
+
+    return mjcf;
+  }
+
+  public void OnValidate() {
+    foreach (FixedTendonEntry fixedTendonEntry in JointList) {
+      if (!(fixedTendonEntry.Joint is MjHingeJoint) &&
+          !(fixedTendonEntry.Joint is MjSlideJoint)) {
+        Debug.LogError("Only scalar joints (hinge or slide) are allowed.", this);
+        fixedTendonEntry.Joint = null;
+      }
+    }
+  }
+}
+}
@@ -0,0 +1,13 @@
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+timeCreated: 1549990455
+licenseType: Pro
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@@ -0,0 +1,131 @@
+// 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.Collections.Generic;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+[Serializable]
+public class SpatialTendonEntry {
+  [Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
+  public MjSite Site;
+  [Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
+  public MjGeom WrapGeom;
+  [Tooltip("Only used if wrap geom is specified.")]
+  public MjSite WrapSideSite;
+  [Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
+  public float PulleyDivisor;
+}
+
+public class MjSpatialTendon : MjBaseTendon {
+
+  [Tooltip("In meters.")]
+  public float RangeLower;
+  [Tooltip("In meters.")]
+  public float RangeUpper;
+
+  public List<SpatialTendonEntry> ViapointsList = new List<SpatialTendonEntry>() {};
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
+      var viapoint = new SpatialTendonEntry();
+      viapoint.Site = child.GetObjectReferenceAttribute<MjSite>("site");
+      viapoint.WrapGeom = child.GetObjectReferenceAttribute<MjGeom>("geom");
+      viapoint.WrapSideSite = child.GetObjectReferenceAttribute<MjSite>("sidesite");
+      viapoint.PulleyDivisor = child.GetFloatAttribute("pulley");
+      ViapointsList.Add(viapoint);
+    }
+    var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
+    RangeLower = rangeValues[0];
+    RangeUpper = rangeValues[1];
+  }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (ViapointsList.Count() < 2) {
+      throw new ArgumentOutOfRangeException($"Spatial tendon {name} needs at least 2 sites.");
+    }
+    if (ViapointsList[0].Site == null) {
+      throw new NullReferenceException(
+      $"The first entry of a spatial tendon {name} must be a site.");
+    }
+    if (ViapointsList[ViapointsList.Count - 1].Site == null) {
+      throw new NullReferenceException(
+      $"The last entry of a spatial tendon {name} must be a site.");
+    }
+    var mjcf = doc.CreateElement("spatial");
+    foreach (SpatialTendonEntry spatialTendonEntry in ViapointsList) {
+      XmlElement elementMjcf;
+      if (spatialTendonEntry.Site) {
+        if (spatialTendonEntry.WrapGeom || spatialTendonEntry.PulleyDivisor != 0) {
+          throw new ArgumentException(
+          $"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
+        }
+        elementMjcf = doc.CreateElement("site");
+        elementMjcf.SetAttribute("site", spatialTendonEntry.Site.MujocoName);
+      } else if (spatialTendonEntry.WrapGeom) {
+        if (spatialTendonEntry.PulleyDivisor != 0) {
+          throw new ArgumentException(
+          $"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
+        }
+        elementMjcf = doc.CreateElement("geom");
+        elementMjcf.SetAttribute("geom", spatialTendonEntry.WrapGeom.MujocoName);
+        if (spatialTendonEntry.WrapSideSite) {
+          elementMjcf.SetAttribute("sidesite", spatialTendonEntry.WrapSideSite.MujocoName);
+        }
+      } else {
+        if (spatialTendonEntry.PulleyDivisor == 0) {
+          throw new ArgumentException(
+          $"Exactly one of site/wrap geom/pulley {name} is required at each entry.");
+        }
+        elementMjcf = doc.CreateElement("pulley");
+        elementMjcf.SetAttribute("divisor", MjEngineTool.MakeLocaleInvariant($"{spatialTendonEntry.PulleyDivisor}"));
+      }
+      mjcf.AppendChild(elementMjcf);
+    }
+    if (RangeLower > RangeUpper) {
+      throw new ArgumentException("Lower range value can't be bigger than Higher");
+    }
+    mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
+
+    return mjcf;
+  }
+
+  public unsafe void OnDrawGizmos() {
+    if (Application.isPlaying) {
+      var scene = MjScene.Instance;
+      var segmentCount = scene.Model->nwrap - 1;
+      var data = scene.Data;
+      int readHead = 0;
+      for (int i = 0; i < segmentCount; ++i) {
+        // Skip drawing of pulley:
+        if (data->wrap_obj[readHead] == -2 || data->wrap_obj[readHead + 1] == -2) {
+          readHead += 1;
+        } else {
+          Vector3 start = MjEngineTool.UnityVector3(data->wrap_xpos, readHead);
+          Vector3 end = MjEngineTool.UnityVector3(data->wrap_xpos, readHead + 1);
+          Gizmos.DrawLine(start, end);
+          if (data->wrap_obj[readHead + 1] >= 0) { // a wrap geom
+            readHead += 2;
+          } else { // site or pulley
+            readHead += 1;
+          }
+        }
+      }
+    }
+  }
+}
+}
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