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Add defaults to SDF plugin attributes.

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Expose diameter and number of teeth for the gear SDF.

PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
This commit is contained in:
Alessio Quaglino
2023-10-30 03:08:41 -07:00
committed by Copybara-Service
parent c921c3956e
commit 50843cad30
18 changed files with 341 additions and 97 deletions
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plugin/sdf/bowl.cc
+25 -14
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@@ -12,12 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <sstream>
#include <cstdint>
#include <optional>
#include <utility>
#include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "sdf.h"
#include "bowl.h"
namespace mujoco::plugin::sdf {
@@ -51,9 +53,16 @@ std::optional<Bowl> Bowl::Create(
// plugin constructor
Bowl::Bowl(const mjModel* m, mjData* d, int instance) {
radius = strtod(mj_getPluginConfig(m, instance, "radius"), nullptr);
height = strtod(mj_getPluginConfig(m, instance, "height"), nullptr);
thick = strtod(mj_getPluginConfig(m, instance, "thickness"), nullptr);
SdfDefault<BowlAttribute> defattribute;
for (int i=0; i < BowlAttribute::nattribute; i++) {
attribute[i] = defattribute.GetDefault(
BowlAttribute::names[i],
mj_getPluginConfig(m, instance, BowlAttribute::names[i]));
}
mjtNum height = attribute[0];
mjtNum radius = attribute[1];
width = mju_sqrt(radius*radius - height*height);
}
@@ -75,8 +84,7 @@ void Bowl::Visualize(const mjModel* m, mjData* d, const mjvOption* opt, mjvScene
// sdf
mjtNum Bowl::Distance(const mjtNum point[3]) const {
mjtNum attributes[3]= {height, radius, thick};
return distance(point, attributes);
return distance(point, attribute);
}
// gradient of sdf
@@ -98,16 +106,15 @@ void Bowl::Gradient(mjtNum grad[3], const mjtNum point[3]) const {
// grad[1] = - grad_dist * point[1] / pnorm;
// grad[2] = - grad_dist * point[2] / pnorm;
// }
mjtNum attributes[3]= {height, radius, thick};
mjtNum eps = 1e-8;
mjtNum dist0 = distance(point, attributes);
mjtNum dist0 = distance(point, attribute);
mjtNum pointX[3] = {point[0]+eps, point[1], point[2]};
mjtNum distX = distance(pointX, attributes);
mjtNum distX = distance(pointX, attribute);
mjtNum pointY[3] = {point[0], point[1]+eps, point[2]};
mjtNum distY = distance(pointY, attributes);
mjtNum distY = distance(pointY, attribute);
mjtNum pointZ[3] = {point[0], point[1], point[2]+eps};
mjtNum distZ = distance(pointZ, attributes);
mjtNum distZ = distance(pointZ, attribute);
grad[0] = (distX - dist0) / eps;
grad[1] = (distY - dist0) / eps;
@@ -122,9 +129,8 @@ void Bowl::RegisterPlugin() {
plugin.name = "mujoco.sdf.bowl";
plugin.capabilityflags |= mjPLUGIN_SDF;
const char* attributes[] = {"radius", "height", "thickness"};
plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
plugin.attributes = attributes;
plugin.nattribute = BowlAttribute::nattribute;
plugin.attributes = BowlAttribute::names;
plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
plugin.init = +[](const mjModel* m, mjData* d, int instance) {
@@ -177,6 +183,11 @@ void Bowl::RegisterPlugin() {
aabb[0] = aabb[1] = aabb[2] = 0;
aabb[3] = aabb[4] = aabb[5] = radius + thick;
};
plugin.sdf_attribute =
+[](mjtNum attribute[], const char* name[], const char* value[]) {
SdfDefault<BowlAttribute> defattribute;
defattribute.GetDefaults(attribute, name, value);
};
mjp_registerPlugin(&plugin);
}