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Expose a handle for the Python viewer.

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This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
This commit is contained in:
Saran Tunyasuvunakool
2023-04-20 05:58:32 -07:00
committed by Copybara-Service
parent 4f5da9c554
commit b362cb4972
34 changed files with 4644 additions and 1088 deletions
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test/engine/testdata/hammock/hammock.xml
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<!-- Copyright 2021 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.
-->
<mujoco model="Hammock">
<!-- Degree of Freedom: 312
Actuators: 21
Equality constraints: 178
Tendons: 178
Simple humanoid on a hammock, implemented as a 2D grid composite, pinned at the corners.
-->
<option timestep="0.005" solver="CG" iterations="30" tolerance="1e-6"/>
<size memory="20M"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="2048"/>
<global offwidth="800" offheight="800"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="plane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="hammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1"
width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
<material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
<material name="hammock" texture="hammock"/>
</asset>
<include file="humanoid_body.xml"/>
<worldbody>
<geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
<composite type="grid" count="11 9 1" spacing="0.2" offset="0. 0. 0">
<skin texcoord="true" material="hammock" inflate="0.01" subgrid="3"/>
<pin coord="0 0"/>
<pin coord="10 0"/>
<pin coord="0 8"/>
<pin coord="10 8"/>
<geom size=".095"/>
<joint kind="main" damping="10"/>
</composite>
</worldbody>
</mujoco>
test/engine/testdata/hammock/humanoid_body.xml
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<!-- Copyright 2021 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.
-->
<mujoco model="Humanoid body">
<!-- Degree of Freedom: 27
Actuators: 21
This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
behaviours. While several variants of it exist in the wild, this version is based on the model
in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
[1] Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization.
https://doi.org/10.1109/IROS.2012.6386025
[2] DeepMind Control Suite, Tassa et al. https://arxiv.org/abs/1801.00690
-->
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
<default class="big_joint">
<joint damping="5" stiffness="10"/>
<default class="big_stiff_joint">
<joint stiffness="20"/>
</default>
</default>
</default>
</default>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<global offwidth="800" offheight="800"/>
</visual>
<worldbody>
<body name="torso" pos="0 0 1.5" childclass="body">
<camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
<freejoint name="root"/>
<geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
<geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
<body name="head" pos="0 0 .19">
<geom name="head" type="sphere" size=".09"/>
<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
</body>
<body name="lower_waist" pos="-.01 0 -.26">
<geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
<joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
<body name="pelvis" pos="0 0 -.165">
<joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
<body name="right_thigh" pos="0 -.1 -.04">
<joint name="right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
<joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
<joint name="right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
<geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
<body name="right_shin" pos="0 .01 -.403">
<joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<body name="right_foot" pos="0 0 -.39">
<joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
<joint name="right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
<geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
<geom name="left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 .1 -.04">
<joint name="left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
<joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
<joint name="left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
<geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
<body name="left_shin" pos="0 -.01 -.403">
<joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<body name="left_foot" pos="0 0 -.39">
<joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
<joint name="left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
<geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
<geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -.17 .06">
<joint name="right_shoulder1" axis="2 1 1" range="-85 60"/>
<joint name="right_shoulder2" axis="0 -1 1" range="-85 60"/>
<geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint name="right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
<geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
<body name="right_hand" pos=".18 .18 .18">
<geom name="right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
</body>
</body>
</body>
<body name="left_upper_arm" pos="0 .17 .06">
<joint name="left_shoulder1" axis="2 -1 1" range="-60 85"/>
<joint name="left_shoulder2" axis="0 1 1" range="-60 85"/>
<geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint name="left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
<geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
<body name="left_hand" pos=".18 -.18 .18">
<geom name="left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="abdomen_y" gear="40" joint="abdomen_y"/>
<motor name="abdomen_z" gear="40" joint="abdomen_z"/>
<motor name="abdomen_x" gear="40" joint="abdomen_x"/>
<motor name="right_hip_x" gear="40" joint="right_hip_x"/>
<motor name="right_hip_z" gear="40" joint="right_hip_z"/>
<motor name="right_hip_y" gear="120" joint="right_hip_y"/>
<motor name="right_knee" gear="80" joint="right_knee"/>
<motor name="right_ankle_x" gear="20" joint="right_ankle_x"/>
<motor name="right_ankle_y" gear="20" joint="right_ankle_y"/>
<motor name="left_hip_x" gear="40" joint="left_hip_x"/>
<motor name="left_hip_z" gear="40" joint="left_hip_z"/>
<motor name="left_hip_y" gear="120" joint="left_hip_y"/>
<motor name="left_knee" gear="80" joint="left_knee"/>
<motor name="left_ankle_x" gear="20" joint="left_ankle_x"/>
<motor name="left_ankle_y" gear="20" joint="left_ankle_y"/>
<motor name="right_shoulder1" gear="20" joint="right_shoulder1"/>
<motor name="right_shoulder2" gear="20" joint="right_shoulder2"/>
<motor name="right_elbow" gear="40" joint="right_elbow"/>
<motor name="left_shoulder1" gear="20" joint="left_shoulder1"/>
<motor name="left_shoulder2" gear="20" joint="left_shoulder2"/>
<motor name="left_elbow" gear="40" joint="left_elbow"/>
</actuator>
</mujoco>