Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505
2022-02-02 20:17:13 +00:00
parent 8ec3dd97a4
commit 6de9eafa13
298 changed files with 20617 additions and 2 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.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);
+}
+}