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Update XML parsing to store asset path so that assets can be recovered and sent to external renderers

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PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
This commit is contained in:
Matthew Bennice
2023-09-21 10:27:04 -07:00
committed by Copybara-Service
parent 4f34cacf35
commit 7f8018a3f3
15 changed files with 132 additions and 15 deletions
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doc/includes/references.h
+8
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@@ -861,6 +861,7 @@ struct mjModel_ {
int nuser_sensor; // number of mjtNums in sensor_user
int nnames; // number of chars in all names
int nnames_map; // number of slots in the names hash map
int npaths; // number of chars in all paths
// sizes set after mjModel construction (only affect mjData)
int nM; // number of non-zeros in sparse inertia matrix
@@ -1045,6 +1046,7 @@ struct mjModel_ {
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_assetpathadr; // address of asset path for mesh; -1: none (nmesh x 1)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
@@ -1251,6 +1253,9 @@ struct mjModel_ {
int* name_pluginadr; // plugin instance name pointers (nplugin x 1)
char* names; // names of all objects, 0-terminated (nnames x 1)
int* names_map; // internal hash map of names (nnames_map x 1)
// paths
char* paths; // paths to assets, 0-terminated (npaths x 1)
};
typedef struct mjModel_ mjModel;
struct mjResource_ {
@@ -1995,6 +2000,7 @@ struct mjvSceneState_ {
int nwrap;
int nsensor;
int nnames;
int npaths;
int nsensordata;
mjOption opt;
@@ -2062,6 +2068,7 @@ struct mjvSceneState_ {
int* mesh_bvhnum;
int* mesh_texcoordadr;
int* mesh_graphadr;
int* mesh_assetpathadr;
int* skin_matid;
int* skin_group;
@@ -2137,6 +2144,7 @@ struct mjvSceneState_ {
int* name_tendonadr;
int* name_actuatoradr;
char* names;
char* paths;
} model;
// fields in mjData that are necessary to re-render a scene
include/mujoco/mjmodel.h
+5
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@@ -593,6 +593,7 @@ struct mjModel_ {
int nuser_sensor; // number of mjtNums in sensor_user
int nnames; // number of chars in all names
int nnames_map; // number of slots in the names hash map
int npaths; // number of chars in all paths
// sizes set after mjModel construction (only affect mjData)
int nM; // number of non-zeros in sparse inertia matrix
@@ -777,6 +778,7 @@ struct mjModel_ {
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_assetpathadr; // address of asset path for mesh; -1: none (nmesh x 1)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
@@ -983,6 +985,9 @@ struct mjModel_ {
int* name_pluginadr; // plugin instance name pointers (nplugin x 1)
char* names; // names of all objects, 0-terminated (nnames x 1)
int* names_map; // internal hash map of names (nnames_map x 1)
// paths
char* paths; // paths to assets, 0-terminated (npaths x 1)
};
typedef struct mjModel_ mjModel;
include/mujoco/mjvisualize.h
+3
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@@ -401,6 +401,7 @@ struct mjvSceneState_ {
int nwrap;
int nsensor;
int nnames;
int npaths;
int nsensordata;
mjOption opt;
@@ -468,6 +469,7 @@ struct mjvSceneState_ {
int* mesh_bvhnum;
int* mesh_texcoordadr;
int* mesh_graphadr;
int* mesh_assetpathadr;
int* skin_matid;
int* skin_group;
@@ -543,6 +545,7 @@ struct mjvSceneState_ {
int* name_tendonadr;
int* name_actuatoradr;
char* names;
char* paths;
} model;
// fields in mjData that are necessary to re-render a scene
include/mujoco/mjxmacro.h
+5
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@@ -118,6 +118,7 @@
X ( nuser_actuator ) \
X ( nuser_sensor ) \
XMJV( nnames ) \
XMJV( npaths ) \
X ( nnames_map ) \
X ( nM ) \
X ( nD ) \
@@ -132,6 +133,8 @@
X ( narena ) \
X ( nbuffer )
/* nbuffer needs to be the final field */
// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
#define MJMODEL_POINTERS_PREAMBLE( m ) \
@@ -296,6 +299,7 @@
XMJV( int, mesh_graphadr, nmesh, 1 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
XMJV( int, mesh_assetpathadr, nmesh, 1 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \
X ( float, mesh_normal, nmeshnormal, 3 ) \
X ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
@@ -468,6 +472,7 @@
X ( int, name_pluginadr, nplugin, 1 ) \
XMJV( char, names, nnames, 1 ) \
X ( int, names_map, nnames_map, 1 ) \
XMJV( char, paths, npaths, 1 ) \
//-------------------------------- mjData ----------------------------------------------------------
introspect/structs.py
+38
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@@ -1070,6 +1070,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of slots in the names hash map',
),
StructFieldDecl(
name='npaths',
type=ValueType(name='int'),
doc='number of chars in all paths',
),
StructFieldDecl(
name='nM',
type=ValueType(name='int'),
@@ -2118,6 +2123,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='rotation applied to asset vertices (nmesh x 4)',
),
StructFieldDecl(
name='mesh_assetpathadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of asset path for mesh; -1: none (nmesh x 1)',
),
StructFieldDecl(
name='mesh_vert',
type=PointerType(
@@ -3322,6 +3334,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='internal hash map of names (nnames_map x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='paths',
type=PointerType(
inner_type=ValueType(name='char'),
),
doc='paths to assets, 0-terminated (npaths x 1)',
),
),
)),
('mjThreadPool',
@@ -5554,6 +5573,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='npaths',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nsensordata',
type=ValueType(name='int'),
@@ -5952,6 +5976,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='mesh_assetpathadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_matid',
type=PointerType(
@@ -6428,6 +6459,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='paths',
type=PointerType(
inner_type=ValueType(name='char'),
),
doc='',
),
),
),
doc='',
python/mujoco/structs.cc
+12 -4
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@@ -234,6 +234,7 @@ MjModelWrapper::MjWrapper(raw::MjModel* ptr)
MJMODEL_POINTERS,
text_data_bytes(ptr->text_data, ptr->ntextdata),
names_bytes(ptr->names, ptr->nnames),
paths_bytes(ptr->paths, ptr->npaths),
indexer_(ptr, owner_) {
bool is_newly_inserted = false;
{
@@ -255,6 +256,7 @@ MjModelWrapper::MjWrapper(MjModelWrapper&& other)
MJMODEL_POINTERS,
text_data_bytes(ptr_->text_data, ptr_->ntextdata),
names_bytes(ptr_->names, ptr_->nnames),
paths_bytes(ptr_->paths, ptr_->npaths),
indexer_(ptr_, owner_) {
bool is_newly_inserted = false;
{
@@ -1509,10 +1511,11 @@ This is useful for example when the MJB is not available as a file on disk.)"));
MJMODEL_INTS
#undef X
#define X(dtype, var, dim0, dim1) \
if constexpr (std::string_view(#var) != "text_data" && \
std::string_view(#var) != "names") { \
DefinePyArray(mjModel, #var, &MjModelWrapper::var); \
#define X(dtype, var, dim0, dim1) \
if constexpr (std::string_view(#var) != "text_data" && \
std::string_view(#var) != "names" && \
std::string_view(#var) != "paths") { \
DefinePyArray(mjModel, #var, &MjModelWrapper::var); \
}
MJMODEL_POINTERS
#undef X
@@ -1527,6 +1530,11 @@ This is useful for example when the MJB is not available as a file on disk.)"));
// Return the full bytes array of concatenated names
return m.names_bytes;
});
mjModel.def_property_readonly(
"paths", [](const MjModelWrapper& m) -> const auto& {
// Return the full bytes array of concatenated paths
return m.paths_bytes;
});
#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS) \
mjModel.def( \
python/mujoco/structs.h
+1
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@@ -477,6 +477,7 @@ class MjWrapper<raw::MjModel> : public WrapperBase<raw::MjModel> {
// TODO(nimrod): Exclude text_data and names from the MJMODEL_POINTERS macro.
pybind11::bytes text_data_bytes;
pybind11::bytes names_bytes;
pybind11::bytes paths_bytes;
protected:
explicit MjWrapper(raw::MjModel* ptr);
src/engine/engine_io.c
+6 -4
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@@ -450,7 +450,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames) {
int nuser_sensor, int nnames, int npaths) {
intptr_t offset = 0;
// allocate mjModel
@@ -519,6 +519,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
+ nskin + nhfield + ntex + nmat + npair + nexclude + neq
+ ntendon + nu + nsensor + nnumeric + ntext + ntuple
+ nkey + nplugin);
m->npaths = npaths;
#define X(name) \
if ((m->name) < 0) { \
@@ -597,7 +598,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->ntuple, src->ntupledata, src->nkey, src->nmocap, src->nplugin,
src->npluginattr, src->nuser_body, src->nuser_jnt, src->nuser_geom,
src->nuser_site, src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames);
src->nuser_sensor, src->nnames, src->npaths);
}
if (!dest) {
mjERROR("failed to make mjModel. Invalid sizes.");
@@ -762,7 +763,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
ints[28], ints[29], ints[30], ints[31], ints[32], ints[33], ints[34],
ints[35], ints[36], ints[37], ints[38], ints[39], ints[40], ints[41],
ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
ints[49], ints[50], ints[51], ints[52]);
ints[49], ints[50], ints[51], ints[52], ints[53]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_closeResource(r);
mju_warning("Corrupted model, wrong size parameters");
@@ -1791,7 +1792,8 @@ const char* mj_validateReferences(const mjModel* m) {
X(name_numericadr, nnumeric, nnames , 0 ) \
X(name_textadr, ntext, nnames , 0 ) \
X(name_tupleadr, ntuple, nnames , 0 ) \
X(name_keyadr, nkey, nnames , 0 )
X(name_keyadr, nkey, nnames , 0 ) \
X(mesh_assetpathadr, nmesh, npaths , 0 )
#define X(adrarray, nadrs, ntarget, numarray) { \
int *nums = (numarray); \
src/engine/engine_io.h
+1 -1
View File
@@ -62,7 +62,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames);
int nuser_sensor, int nnames, int npaths);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
src/user/user_model.cc
+41 -3
View File
@@ -275,6 +275,7 @@ void mjCModel::Clear(void) {
ntupledata = 0;
npluginattr = 0;
nnames = 0;
npaths = 0;
memory = -1;
nstack = -1;
nemax = 0;
@@ -1002,6 +1003,18 @@ void mjCModel::SetSizes(void) {
for (int i=0; i<nkey; i++) nnames += (int)keys[i]->name.length() + 1;
for (int i=0; i<nplugin; i++) nnames += (int)plugins[i]->name.length() + 1;
// npaths
npaths = 0;
for (int i=0; i<nmesh; i++) {
if (meshes[i]->file().empty()) {
continue;
}
npaths += (int)meshes[i]->file().length() + 1;
}
if (npaths == 0) {
npaths = 1;
}
// nemax
for (int i=0; i<neq; i++)
if (equalities[i]->type==mjEQ_CONNECT) {
@@ -1197,7 +1210,6 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
}
// process names from one list: concatenate, compute addresses
template <class T>
static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int* map) {
@@ -1313,6 +1325,30 @@ void mjCModel::CopyNames(mjModel* m) {
}
void mjCModel::CopyPaths(mjModel* m) {
// start with 0 address.
size_t adr = 0;
m->paths[0] = 0;
for (unsigned int i=0; i<meshes.size(); i++) {
if (meshes[i]->file().empty()) {
m->mesh_assetpathadr[i] = -1;
continue;
}
m->mesh_assetpathadr[i] = adr;
// copy path
size_t path_size = meshes[i]->file().size();
memcpy(m->paths+adr, meshes[i]->file().c_str(), path_size);
adr += path_size;
// append 0
m->paths[adr] = 0;
adr++;
}
}
// copy objects inside kinematic tree
void mjCModel::CopyTree(mjModel* m) {
@@ -2703,7 +2739,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames);
nuser_tendon, nuser_actuator, nuser_sensor, nnames, npaths);
if (!m) {
throw mjCError(0, "could not create mjModel");
}
@@ -2712,6 +2748,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
m->opt = option;
m->vis = visual;
CopyNames(m);
CopyPaths(m);
CopyTree(m);
// assign plugin slots and copy plugin config attributes
@@ -2918,7 +2955,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
neq!=m->neq || ntendon!=m->ntendon || nwrap!=m->nwrap || nsensor!=m->nsensor ||
nnumeric!=m->nnumeric || nnumericdata!=m->nnumericdata || ntext!=m->ntext ||
ntextdata!=m->ntextdata || nnames!=m->nnames || nM!=m->nM || nD!=m->nD ||
nB!=m->nB || nemax!=m->nemax || nconmax!=m->nconmax || njmax!=m->njmax) {
nB!=m->nB || nemax!=m->nemax || nconmax!=m->nconmax || njmax!=m->njmax ||
npaths!=m->npaths) {
errInfo = mjCError(0, "incompatible models in CopyBack");
return false;
}
src/user/user_model.h
+2
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@@ -182,6 +182,7 @@ class mjCModel {
void AutoSpringDamper(mjModel*);// automatic stiffness and damping computation
void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
void CopyNames(mjModel*); // copy names, compute name addresses
void CopyPaths(mjModel*); // copy paths, compute path addresses
void CopyObjects(mjModel*); // copy objects outside kinematic tree
void CopyTree(mjModel*); // copy objects inside kinematic tree
@@ -235,6 +236,7 @@ class mjCModel {
int ntupledata; // number of objects in all tuple fields
int npluginattr; // number of chars in all plugin config attributes
int nnames; // number of chars in all names
int npaths; // number of chars in all paths
int nM; // number of non-zeros in sparse inertia matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int nB; // number of non-zeros in sparse body-dof matrix
src/xml/xml.cc
+1
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@@ -321,6 +321,7 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int er
// this is separate from the Parser to allow multiple URDFs to be loaded.
model->strippath = true;
model->fusestatic = true;
model->discardvisual = true;
parser.SetModel(model);
parser.Parse(root);
src/xml/xml_urdf.cc
-3
View File
@@ -87,9 +87,6 @@ void mjXURDF::Parse(
int id_parent, id_child;
urPrefix = prefix;
// set compiler defaults suitable for URDF
model->discardvisual = true;
// parse MuJoCo sections (not part of URDF)
XMLElement* mjc = FindSubElem(root, "mujoco");
if (mjc) {
test/user/user_mesh_test.cc
+3
View File
@@ -375,6 +375,9 @@ TEST_F(MjCMeshTest, SaveMeshOnce) {
const std::string xml_path = GetTestDataFilePath(kCubePath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
// Confirm the mesh file is loaded and stored in paths
EXPECT_EQ(
std::string(&model->paths[model->mesh_assetpathadr[0]]), "cube.obj");
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(testing::HasSubstr("vertex")));
mj_deleteModel(model);
unity/Runtime/Bindings/MjBindings.cs
+6
View File
@@ -5095,6 +5095,7 @@ public unsafe struct mjModel_ {
public int nuser_sensor;
public int nnames;
public int nnames_map;
public int npaths;
public int nM;
public int nD;
public int nB;
@@ -5249,6 +5250,7 @@ public unsafe struct mjModel_ {
public int* mesh_graphadr;
public double* mesh_pos;
public double* mesh_quat;
public int* mesh_assetpathadr;
public float* mesh_vert;
public float* mesh_normal;
public float* mesh_texcoord;
@@ -5421,6 +5423,7 @@ public unsafe struct mjModel_ {
public int* name_pluginadr;
public char* names;
public int* names_map;
public char* paths;
}
[StructLayout(LayoutKind.Sequential)]
@@ -5944,6 +5947,7 @@ public unsafe struct model {
public int nwrap;
public int nsensor;
public int nnames;
public int npaths;
public int nsensordata;
public mjOption_ opt;
public mjVisual_ vis;
@@ -6002,6 +6006,7 @@ public unsafe struct model {
public int* mesh_bvhnum;
public int* mesh_texcoordadr;
public int* mesh_graphadr;
public int* mesh_assetpathadr;
public int* skin_matid;
public int* skin_group;
public float* skin_rgba;
@@ -6070,6 +6075,7 @@ public unsafe struct model {
public int* name_tendonadr;
public int* name_actuatoradr;
public char* names;
public char* paths;
}
[StructLayout(LayoutKind.Sequential)]