From b397b3123eeda8b4770f9b1f0408dc903f09d77b Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Thu, 27 Apr 2023 02:02:16 -0700 Subject: [PATCH] Added touch grid sensor plugin. PiperOrigin-RevId: 527512624 Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e --- .github/workflows/build.yml | 6 +- CMakeLists.txt | 1 + doc/changelog.rst | 15 + model/plugin/a.png | Bin 0 -> 195 bytes model/plugin/touch_grid.xml | 54 ++ plugin/sensor/CMakeLists.txt | 42 ++ plugin/sensor/README.md | 74 +++ plugin/sensor/images/180-30.png | Bin 0 -> 110691 bytes plugin/sensor/images/180-90.png | Bin 0 -> 124757 bytes plugin/sensor/images/30-30.png | Bin 0 -> 63449 bytes plugin/sensor/images/fovea.png | Bin 0 -> 9140 bytes plugin/sensor/sensor.cc | 22 + plugin/sensor/touch_grid.cc | 535 ++++++++++++++++++ plugin/sensor/touch_grid.h | 75 +++ test/plugin/sensor/CMakeLists.txt | 21 + test/plugin/sensor/sensor_test.cc | 45 ++ .../sensor/testdata/touch_grid_test.xml | 52 ++ 17 files changed, 940 insertions(+), 2 deletions(-) create mode 100644 model/plugin/a.png create mode 100644 model/plugin/touch_grid.xml create mode 100644 plugin/sensor/CMakeLists.txt create mode 100644 plugin/sensor/README.md create mode 100644 plugin/sensor/images/180-30.png create mode 100644 plugin/sensor/images/180-90.png create mode 100644 plugin/sensor/images/30-30.png create mode 100644 plugin/sensor/images/fovea.png create mode 100644 plugin/sensor/sensor.cc create mode 100644 plugin/sensor/touch_grid.cc create mode 100644 plugin/sensor/touch_grid.h create mode 100644 test/plugin/sensor/CMakeLists.txt create mode 100644 test/plugin/sensor/sensor_test.cc create mode 100644 test/plugin/sensor/testdata/touch_grid_test.xml diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index a3e33f38..ab12edcb 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -152,12 +152,14 @@ jobs: if: ${{ runner.os != 'Windows' }} working-directory: build run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin && - cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin + cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin && + cp lib/libsensor.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin - name: Copy plugins (Windows) if: ${{ runner.os == 'Windows' }} working-directory: build run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin && - cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin + cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin && + cp bin/Release/sensor.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin - name: Configure samples working-directory: sample run: > diff --git a/CMakeLists.txt b/CMakeLists.txt index 7cd0da01..56cceb47 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -81,6 +81,7 @@ target_include_directories( ) add_subdirectory(plugin/elasticity) +add_subdirectory(plugin/sensor) add_subdirectory(src/engine) add_subdirectory(src/user) add_subdirectory(src/xml) diff --git a/doc/changelog.rst b/doc/changelog.rst index 7a91f579..ff47d61d 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,6 +2,21 @@ Changelog ========= +Upcoming version (not yet released) +----------------------------------- + +Plugins +^^^^^^^ + +.. youtube:: hqIMTNGaLF4 + :align: right + :width: 240px + +- Added touch-grid sensor plugin. See `documentation `_ + for details, and associated `touch_grid.xml `_ + example model. The plugin includes `in-scene visualisation `_. + + Version 2.3.5 (April 25, 2023) ------------------------------ diff --git a/model/plugin/a.png b/model/plugin/a.png new file mode 100644 index 0000000000000000000000000000000000000000..c1b629b6d4606c9727dd46927c2a7f65ddb65a9a GIT binary patch literal 195 zcmeAS@N?(olHy`uVBq!ia0vp^d_XL~0VEih{|i0?QeB=djv*Yf$q5P^YnIE~Z?^Lm zIHkRZi*0x7L7Ts;!^3yn@ZVFlmFZA!{Q1KN4($5&%5g@Tnx0zQtJUE*4$5rp6ki_~ zv;X(0P(K0x*Gd=WXookj%&>lW%GH=J@8{0&^+k<4qSxgyPulZ4aZ~vEwAZ`W?5bi_ uTFrl{?CT-36-jJ=BbWD;YK1w8K4xTSPH<2$_N~7Pa-FBEpUXO@geCx)tW8D$ literal 0 HcmV?d00001 diff --git a/model/plugin/touch_grid.xml b/model/plugin/touch_grid.xml new file mode 100644 index 00000000..e951f465 --- /dev/null +++ b/model/plugin/touch_grid.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/plugin/sensor/CMakeLists.txt b/plugin/sensor/CMakeLists.txt new file mode 100644 index 00000000..4dac6d0a --- /dev/null +++ b/plugin/sensor/CMakeLists.txt @@ -0,0 +1,42 @@ +# Copyright 2022 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 +# +# https://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. + +set(MUJOCO_SENSOR_INCLUDE + ${CMAKE_CURRENT_SOURCE_DIR}/../.. + ${CMAKE_CURRENT_SOURCE_DIR}/../../src +) + +set(MUJOCO_SENSOR_SRCS + sensor.cc + touch_grid.h + touch_grid.cc +) + +add_library(sensor SHARED) +target_sources(sensor PRIVATE ${MUJOCO_SENSOR_SRCS}) +target_include_directories(sensor PRIVATE ${MUJOCO_SENSOR_INCLUDE}) +target_link_libraries(sensor PRIVATE mujoco) +target_compile_options( + sensor + PRIVATE ${AVX_COMPILE_OPTIONS} + ${MUJOCO_MACOS_COMPILE_OPTIONS} + ${EXTRA_COMPILE_OPTIONS} + ${MUJOCO_CXX_FLAGS} +) +target_link_options( + sensor + PRIVATE + ${MUJOCO_MACOS_LINK_OPTIONS} + ${EXTRA_LINK_OPTIONS} +) diff --git a/plugin/sensor/README.md b/plugin/sensor/README.md new file mode 100644 index 00000000..1e07a455 --- /dev/null +++ b/plugin/sensor/README.md @@ -0,0 +1,74 @@ +# Sensor Plugins + +Custom sensors implemented as [engine plugins](https://mujoco.readthedocs.io/en/latest/programming/extension.html#engine-plugins). + +## Touch Grid + +This sensor aggregates contact forces into "taxels": a rectangular array of pixel-like elements. + + +A `touch grid` sensor is associated with a site and senses contact forces and +torques between the site's parent body and all other bodies. The site's frame +determines the orientation of the sensor with the same convention used for +cameras and lights: the sensor points in the frame's **negative-z** direction, +so the x and y axes correspond to horizontal and vertical, respectively. + +The output of the sensor is a stack of 1 to 6 "touch images" corresponding to forces +and torques in the frame of the sensor. Forces and torques are in the in [z, x, +y] order, corresponding to the ordering in contact frames: [normal, tangent, +tangent] and [torsional, rolling, rolling]. Each "taxel" codderponds to an angular bin +in spherical coordinates, and aggregates all the forces occuring inside this bin, which occur +between the body in which the sensor's site is defined and any other body. + +The sensor is parametrized by 6 numbers: + +1. Number of channels, in the order given above. _positive integer in [1 6]_ +2. Horizontal resolution. _positive integer_ +3. Vertical resolution. _positive integer_ +4. Horizontal field-of-view. _positive float in (0, 180] degrees_ +5. Vertical field-of-view. _positive float in (0, 90] degrees_ +6. Foveal deformation. _positive float in [0, 1]_ + +See illustrations below for a visual explanation of the field-of-view and foveal +deformation parameters. These parameters are passed as plugin config attributes: + +```xml + + + + + ... + + + + + + + + + + + +``` + +Note the following: + +- The dimensionality of the sensor output is `nchannel * size_x *size_y`. +- `objtype="site" objname="touch"` specify that the sensor is associated with + a site, and the name of the specific site. +- Field-of-view angles are always in degrees, disregarding the `` + "angle" directive. + +### Illustration of fields-of-view in spherical coordinates: + + + + + +### Illustration of foveal deformation: + +![foveal deformation](images/fovea.png) + +### Illustration combining resolution, fields-of-view and foveal deformation: + +[![touch grid illustration](https://img.youtube.com/vi/YScjmR8LwQI/0.jpg)](https://www.youtube.com/watch?v=YScjmR8LwQI) diff --git a/plugin/sensor/images/180-30.png b/plugin/sensor/images/180-30.png new file mode 100644 index 0000000000000000000000000000000000000000..b9f02ecfb0dc966badec51bc09a3a559d2a1ca84 GIT binary patch literal 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zE*B%7@_!nuRd)9i7I~&{R5{D(1q4HpEG~Uo??{ENMRnuy%8F7H;bOi9z?)B{VTpXv zKOC;dP+Y+jpl6wfH1EF++1zmVDk&Xo?Sh8<10ZuPt4N6spdhxVThK6U0_nLnh4&2SBJX zgqY!8SXed`wA$ucAp{`+R2||SBb@)RiYHFzS`)L%%3i=G&Fu{C-5#py(VVKa0zEnp zr=+fZH4$+1(ehZb>MfKAe6f@Dq11)?Mg#y4V*aiIhsRLxqKWly*46@5R>uo#Trb9X zQ!w?m{1uF4{s^Wr7}^xnSV6cm)PSeLabQu%X0Se9$;`Dq=V^SrMRJ+u1dEjmybC8} zhWh&YsA7Mq5-Z6ftB2{%@M&ghst4MN^zpwT#6Oj?s0hNYi~e7L zf1)UVi`_L)H8WL9n)>}3`{bA!p?f2IvTcZJGFgae4>{&KHtLP>ilEi|Wh*NAyJ-_n z;XRayg+ue7lT@y=A{$6;%S3;DCoHW~v0RDCz`m{^1f5u%Y3x<2OV0GkBB~`%G00{XI+lwIdaO8f*ljqh)X=Pvg?aE B5G?=z literal 0 HcmV?d00001 diff --git a/plugin/sensor/sensor.cc b/plugin/sensor/sensor.cc new file mode 100644 index 00000000..f120665e --- /dev/null +++ b/plugin/sensor/sensor.cc @@ -0,0 +1,22 @@ +// Copyright 2023 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. + +#include +#include "touch_grid.h" + +namespace mujoco::plugin::sensor { + +mjPLUGIN_LIB_INIT { TouchGrid::RegisterPlugin(); } + +} // namespace mujoco::plugin::sensor diff --git a/plugin/sensor/touch_grid.cc b/plugin/sensor/touch_grid.cc new file mode 100644 index 00000000..e48b8151 --- /dev/null +++ b/plugin/sensor/touch_grid.cc @@ -0,0 +1,535 @@ +// Copyright 2023 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. + +#include "touch_grid.h" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace mujoco::plugin::sensor { + +namespace { + +// Returns the index of the first value in `a` that x is less than or n if no +// such value exists. See: https://stackoverflow.com/a/39100135. +int LowerBound(const mjtNum a[], int n, mjtNum x) { + int l = 0; + int h = n; + while (l < h) { + int mid = (l + h) / 2; + if (x <= a[mid]) { + h = mid; + } else { + l = mid + 1; + } + } + return l; +} + +// Two dimensional histogram function. +void Histogram2D(const mjtNum x_data[], const mjtNum y_data[], + const mjtNum weights[], int n_data, const mjtNum x_edges[], + int n_x_edges, const mjtNum y_edges[], int n_y_edges, + mjtNum* histogram, int* counts) { + for (int i = 0; i < n_data; ++i) { + mjtNum x = x_data[i]; + mjtNum y = y_data[i]; + int x_idx = LowerBound(x_edges, n_x_edges, x); + if (x_idx == 0 || x_idx == n_x_edges) { + continue; + } + int y_idx = LowerBound(y_edges, n_y_edges, y); + if (y_idx == 0 || y_idx == n_y_edges) { + continue; + } + int index = (y_idx - 1)*(n_x_edges - 1) + (x_idx - 1); + histogram[index] += weights[i]; + if (counts) { + counts[index]++; + } + } +} + +// Evenly spaced numbers over a specified interval. +void LinSpace(mjtNum lower, mjtNum upper, int n, mjtNum array[]) { + mjtNum increment = n > 1 ? (upper - lower) / (n - 1) : 0; + for (int i = 0; i < n; ++i) { + *array = lower; + ++array; + lower += increment; + } +} + +// Parametrized linear/quintic interpolated nonlinearity. +mjtNum Fovea(mjtNum x, mjtNum gamma) { + // Quick return. + if (!gamma) return x; + + // Foveal deformation. + mjtNum g = mjMAX(0, mjMIN(1, gamma)); + return g*mju_pow(x, 5) + (1 - g)*x; +} + +// Make bin edges. +void BinEdges(mjtNum* x_edges, mjtNum* y_edges, int size_x, int size_y, + mjtNum fov_x, mjtNum fov_y, mjtNum gamma) { + // Make unit bin edges. + LinSpace(-1, 1, size_x + 1, x_edges); + LinSpace(-1, 1, size_y + 1, y_edges); + + // Apply foveal deformation. + for (int i = 0; i < size_x + 1; i++) { + x_edges[i] = Fovea(x_edges[i], gamma); + } + for (int i = 0; i < size_y + 1; i++) { + y_edges[i] = Fovea(y_edges[i], gamma); + } + + // Scale by field-of-view. + mju_scl(x_edges, x_edges, fov_x*mjPI / 180, size_x + 1); + mju_scl(y_edges, y_edges, fov_y*mjPI / 180, size_y + 1); +} + +// Permute 3-vector from 0,1,2 to 2,0,1. +static void xyz2zxy(mjtNum* x) { + mjtNum z = x[2]; + x[2] = x[1]; + x[1] = x[0]; + x[0] = z; +} + +// In the functions below transforming Cartesian <-> spherical: +// - The frame points down the z-axis, so a=e=0 corresponds to (0, 0, -r). +// - azimuth (a) corresponds to positive rotation around -y (towards +x). +// - elevation (e) corresponds to positive rotation around +x (towards +y). + +// Transform Cartesian (x,y,z) to spherical (azimuth, elevation, radius). +void CartesianToSpherical(const mjtNum xyz[3], mjtNum aer[3]) { + mjtNum x = xyz[0], y = xyz[1], z = xyz[2]; + aer[0] = mju_atan2(x, -z); + aer[1] = mju_atan2(y, mju_sqrt(x*x + z*z)); + aer[2] = mju_sqrt(x*x + z*z + y*y); +} + +// Transform spherical (azimuth, elevation, radius) to Cartesian (x,y,z). +void SphericalToCartesian(const mjtNum aer[3], mjtNum xyz[3]) { + mjtNum a = aer[0], e = aer[1], r = aer[2]; + xyz[0] = r * mju_cos(e) * mju_sin(a); + xyz[1] = r * mju_sin(e); + xyz[2] = -r * mju_cos(e) * mju_cos(a); +} + +// Checks that a plugin config attribute exists. +bool CheckAttr(const char* name, const mjModel* m, int instance) { + char* end; + std::string value = mj_getPluginConfig(m, instance, name); + value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end()); + strtod(value.c_str(), &end); + return end == value.data() + value.size(); +} + +} // namespace + +// Creates a TouchGrid instance if all config attributes are defined and +// within their allowed bounds. +TouchGrid* TouchGrid::Create(const mjModel* m, mjData* d, + int instance) { + if (CheckAttr("size_x", m, instance) && CheckAttr("size_y", m, instance) && + CheckAttr("fov_x", m, instance) && CheckAttr("fov_y", m, instance) && + CheckAttr("gamma", m, instance)) { + // nchannel + int nchannel = strtod(mj_getPluginConfig(m, instance, "nchannel"), nullptr); + if (!nchannel) nchannel = 1; + if (nchannel < 1 || nchannel > 6) { + mju_warning("nchannel must be between 1 and 6"); + return nullptr; + } + + // size_x, size_y + int size_x = strtod(mj_getPluginConfig(m, instance, "size_x"), nullptr); + int size_y = strtod(mj_getPluginConfig(m, instance, "size_y"), nullptr); + if (size_x < 0 || size_y < 0) { + mju_warning("Horizontal and vertical resolutions must be positive"); + return nullptr; + } + + // fov_x, fov_y + mjtNum fov_x = strtod(mj_getPluginConfig(m, instance, "fov_x"), nullptr); + if (fov_x <= 0 || fov_x > 180) { + mju_warning("`fov_x` must be a float between (0, 180] degrees"); + return nullptr; + } + mjtNum fov_y = strtod(mj_getPluginConfig(m, instance, "fov_y"), nullptr); + if (fov_y <= 0 || fov_y > 90) { + mju_warning("`fov_y` must be a float between (0, 90] degrees"); + return nullptr; + } + + // gamma + mjtNum gamma = strtod(mj_getPluginConfig(m, instance, "gamma"), nullptr); + if (gamma < 0 || gamma > 1) { + mju_warning("`gamma` must be a nonnegative float between [0, 1]"); + return nullptr; + } + + return new TouchGrid(m, d, instance, nchannel, size_x, size_y, + fov_x, fov_y, gamma); + } else { + mju_warning("Invalid or missing parameters in touch_grid sensor plugin"); + return nullptr; + } +} + +TouchGrid::TouchGrid(const mjModel* m, mjData* d, int instance, + int nchannel, int size_x, int size_y, mjtNum fov_x, + mjtNum fov_y, mjtNum gamma) + : nchannel_(nchannel), + size_x_(size_x), + size_y_(size_y), + fov_x_(fov_x), + fov_y_(fov_y), + gamma_(gamma) { + // Make sure sensor is attached to a site. + for (int i = 0; i < m->nsensor; ++i) { + if (m->sensor_type[i] == mjSENS_PLUGIN && m->sensor_plugin[i] == instance) { + if (m->sensor_objtype[i] != mjOBJ_SITE) { + mju_error("Touch Grid sensor must be attached to a site"); + } + } + } + + // Allocate distance array. + distance_.resize(size_x*size_y, 0); +} + +void TouchGrid::Reset(const mjModel* m, int instance) {} + +void TouchGrid::Compute(const mjModel* m, mjData* d, int instance) { + mjMARKSTACK; + + // Get sensor id. + int id; + for (id = 0; id < m->nsensor; ++id) { + if (m->sensor_type[id] == mjSENS_PLUGIN && + m->sensor_plugin[id] == instance) { + break; + } + } + + // Clear sensordata and distance matrix. + mjtNum* sensordata = d->sensordata + m->sensor_adr[id]; + mju_zero(sensordata, m->sensor_dim[id]); + int frame = size_x_*size_y_; + mju_zero(distance_.data(), frame); + + // Get site id. + int site_id = m->sensor_objid[id]; + + // Count contacts. + int ncon = 0; + int parent_body = m->body_weldid[m->site_bodyid[site_id]]; + int parent_weld = m->body_weldid[parent_body]; + for (int i = 0; i < d->ncon; i++) { + int body1 = m->body_weldid[m->geom_bodyid[d->contact[i].geom1]]; + int body2 = m->body_weldid[m->geom_bodyid[d->contact[i].geom2]]; + if (body1 == parent_weld || body2 == parent_weld) { + ncon++; + } + } + + // No contacts, return. + if (!ncon) { + mjFREESTACK; + return; + } + + // Get site frame. + mjtNum* site_pos = d->site_xpos + 3*site_id; + mjtNum* site_mat = d->site_xmat + 9*site_id; + + // allocate contact forces and positions + mjtNum* forces = mj_stackAlloc(d, ncon*6); + mjtNum* positions = mj_stackAlloc(d, ncon*3); + + // Get forces and positions in spherical coordinates. + int contact = 0; + for (int i = 0; i < d->ncon; i++) { + int body1 = m->geom_bodyid[d->contact[i].geom1]; + int weld1 = m->body_weldid[body1]; + int body2 = m->geom_bodyid[d->contact[i].geom2]; + int weld2 = m->body_weldid[body2]; + + if (weld1 == parent_weld || weld2 == parent_weld) { + // Get contact force/torque, rotate into world frame, then site frame. + // Note that contact.frame is column major. + mjtNum tmp_force[6], tmp1[3]; + mj_contactForce(m, d, i, tmp_force); + mju_rotVecMatT(tmp1, tmp_force, d->contact[i].frame); + mju_rotVecMatT(forces + 6*contact, tmp1, site_mat); + mju_rotVecMatT(tmp1, tmp_force + 3, d->contact[i].frame); + mju_rotVecMatT(forces + 6*contact + 3, tmp1, site_mat); + + // Forces point from the smaller to larger body, so flip sign if + // the parent body has smaller id. + if (parent_body < mjMAX(body1, body2)) { + mju_scl(forces + 6*contact, forces + 6*contact, -1, 6); + } + + // Permute forces from x,y,z to z,x,y (normal, tangent, tangent) + xyz2zxy(forces + 6*contact); + xyz2zxy(forces + 6*contact + 3); + + // Get position, rotate into contact frame. + mjtNum tmp2[3]; + mju_sub3(tmp1, d->contact[i].pos, site_pos); + mju_rotVecMatT(tmp2, tmp1, site_mat); + + // Transform to spherical coordinates, copy into positions array. + CartesianToSpherical(tmp2, tmp1); + for (int k = 0; k < 3; k++) { + positions[k*ncon + contact] = tmp1[k]; + } + contact++; + } + } + + // Transpose forces. + mjtNum* forcesT = mj_stackAlloc(d, ncon*6); + mju_transpose(forcesT, forces, ncon, 6); + + // Allocate bin edges. + mjtNum* x_edges = mj_stackAlloc(d, size_x_ + 1); + mjtNum* y_edges = mj_stackAlloc(d, size_y_ + 1); + + // Make bin edges. + BinEdges(x_edges, y_edges, size_x_, size_y_, fov_x_, fov_y_, gamma_); + + // Compute sensor output. + for (int i = 0; i < nchannel_; i++) { + if (!mju_isZero(forcesT + i*ncon, ncon)) { + Histogram2D(positions, positions + ncon, forcesT + i*ncon, ncon, + x_edges, size_x_ + 1, y_edges, size_y_ + 1, + sensordata + i*frame, nullptr); + } + } + + // Allocate count matrix. + int* counts = mj_stackAllocInt(d, frame); + for (int i=0; i < frame; i++) counts[i] = 0; + + // Compute distance matrix (unnormalized). + Histogram2D(positions, positions + ncon, positions + 2*ncon, ncon, x_edges, + size_x_ + 1, y_edges, size_y_ + 1, distance_.data(), counts); + + // Normalize distances + for (int i=0; i < frame; i++) { + if (counts[i]) { + distance_.data()[i] /= counts[i]; + } + } + + mjFREESTACK; +} + +// Thickness of taxel-visualization boxes relative to contact distance. +static const mjtNum kRelativeThickness = 0.02; + +void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt, + mjvScene* scn, int instance) { + mjMARKSTACK; + + // Get sensor id. + int id; + for (id=0; id < m->nsensor; ++id) { + if (m->sensor_type[id] == mjSENS_PLUGIN && + m->sensor_plugin[id] == instance) { + break; + } + } + + // Get sensor data. + mjtNum* sensordata = d->sensordata + m->sensor_adr[id]; + + // Get maximum absolute normal force. + mjtNum maxval = 0; + int frame = size_x_*size_y_; + for (int j=0; j < frame; j++) { + maxval = mju_max(maxval, mju_abs(sensordata[j])); + } + + // If no normal force readings, quick return. + if (!maxval) { + mjFREESTACK; + return; + } + + // Get site id and frame. + int site_id = m->sensor_objid[id]; + mjtNum* site_pos = d->site_xpos + 3*site_id; + mjtNum* site_mat = d->site_xmat + 9*site_id; + mjtNum site_quat[4]; + mju_mat2Quat(site_quat, site_mat); + + // Allocate bin edges. + mjtNum* x_edges = mj_stackAlloc(d, size_x_ + 1); + mjtNum* y_edges = mj_stackAlloc(d, size_y_ + 1); + + // Make bin edges. + BinEdges(x_edges, y_edges, size_x_, size_y_, fov_x_, fov_y_, gamma_); + + // Draw geoms. + for (int i=0; i < size_x_; i++) { + for (int j=0; j < size_y_; j++) { + mjtNum dist = distance_.data()[j*size_x_ + i]; + if (!dist) { + continue; + } + if (scn->ngeom >= scn->maxgeom) { + mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom); + mjFREESTACK; + return; + } else { + // size + mjtNum size[3] = {dist*0.5*(x_edges[i+1]-x_edges[i]), + dist*0.5*(y_edges[j+1]-y_edges[j]), + dist*kRelativeThickness}; + + // position + mjtNum pos[3]; + mjtNum aer[3] = {0.5*(x_edges[i+1]+x_edges[i]), + 0.5*(y_edges[j+1]+y_edges[j]), + dist*(1-kRelativeThickness)}; + SphericalToCartesian(aer, pos); + mju_rotVecMat(pos, pos, site_mat); + mju_addTo3(pos, site_pos); + + // orientation + mjtNum a_quat[4]; + mjtNum site_y[3] = {-site_mat[1], -site_mat[4], -site_mat[7]}; + mju_axisAngle2Quat(a_quat, site_y, aer[0]); + mjtNum e_quat[4]; + mjtNum site_x[3] = {site_mat[0], site_mat[3], site_mat[6]}; + mju_axisAngle2Quat(e_quat, site_x, aer[1]); + mjtNum quat[4]; + mju_mulQuat(quat, e_quat, site_quat); + mju_mulQuat(quat, a_quat, quat); + mjtNum mat[9]; + mju_quat2Mat(mat, quat); + + // color + float rgba[4] = {1, 1, 1, 1.0}; + for (int k=0; k < mjMIN(nchannel_, 3); k++) { + rgba[k] = mju_abs(sensordata[k*frame + j*size_x_ + i]) / maxval; + } + + // draw box geom + mjvGeom* thisgeom = scn->geoms + scn->ngeom; + mjv_initGeom(thisgeom, mjGEOM_BOX, size, pos, mat, rgba); + thisgeom->objtype = mjOBJ_UNKNOWN; + thisgeom->objid = id; + thisgeom->category = mjCAT_DECOR; + thisgeom->segid = scn->ngeom; + scn->ngeom++; + } + } + } + + mjFREESTACK; +} + + +void TouchGrid::RegisterPlugin() { + mjpPlugin plugin; + mjp_defaultPlugin(&plugin); + + plugin.name = "mujoco.sensor.touch_grid"; + plugin.capabilityflags |= mjPLUGIN_SENSOR; + + // Parameterized by 5 attributes. + const char* attributes[] = {"nchannel", "size_x", "size_y", "fov_x", "fov_y", + "gamma"}; + plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]); + plugin.attributes = attributes; + + // Stateless. + plugin.nstate = +[](const mjModel* m, int instance) { return 0; }; + + // Sensor dimension = nchannel * size_x * size_y + plugin.nsensordata = +[](const mjModel* m, int instance, int sensor_id) { + int nchannel = strtod(mj_getPluginConfig(m, instance, "nchannel"), nullptr); + if (!nchannel) nchannel = 1; + int size_x = strtod(mj_getPluginConfig(m, instance, "size_x"), nullptr); + int size_y = strtod(mj_getPluginConfig(m, instance, "size_y"), nullptr); + return nchannel * size_x * size_y; + }; + + // Can only run after forces have been computed. + plugin.needstage = mjSTAGE_ACC; + + // Initialization callback. + plugin.init = +[](const mjModel* m, mjData* d, int instance) { + auto* TouchGrid = TouchGrid::Create(m, d, instance); + if (!TouchGrid) { + return -1; + } + d->plugin_data[instance] = reinterpret_cast(TouchGrid); + return 0; + }; + + // Destruction callback. + plugin.destroy = +[](mjData* d, int instance) { + delete reinterpret_cast(d->plugin_data[instance]); + d->plugin_data[instance] = 0; + }; + + // Reset callback. + plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data, + int instance) { + auto* TouchGrid = reinterpret_cast(plugin_data); + TouchGrid->Reset(m, instance); + }; + + // Compute callback. + plugin.compute = + +[](const mjModel* m, mjData* d, int instance, int capability_bit) { + auto* TouchGrid = + reinterpret_cast(d->plugin_data[instance]); + TouchGrid->Compute(m, d, instance); + }; + + // Visualization callback. + plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt, + mjvScene* scn, int instance) { + auto* TouchGrid = + reinterpret_cast(d->plugin_data[instance]); + TouchGrid->Visualize(m, d, opt, scn, instance); + }; + + // Register the plugin. + mjp_registerPlugin(&plugin); +} + +} // namespace mujoco::plugin::sensor diff --git a/plugin/sensor/touch_grid.h b/plugin/sensor/touch_grid.h new file mode 100644 index 00000000..98561107 --- /dev/null +++ b/plugin/sensor/touch_grid.h @@ -0,0 +1,75 @@ +// Copyright 2023 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. + +#ifndef MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_ +#define MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_ + +#include +#include + +#include +#include +#include +#include + +namespace mujoco::plugin::sensor { + +// A touch grid sensor is associated with a site and senses contact forces +// and torques between the site's parent body and all other bodies. The site's +// frame determines the orientation of the sensor with the same convention used +// for cameras and lights: the sensor points in the frame's negative-Z +// direction, so the X and Y axes correspond to horizontal and vertical +// directions respectively. +// +// The output of the sensor is a stack of 6 "touch images" corresponding to +// forces and torques in the frame of the sensor. Forces and torques are in the +// [z, x, y] order, corresponding to the ordering in contact frames: +// [normal, tangent, tangent] and [torsional, rolling, rolling]. +// +// The sensor has 6 parameters: +// 1. (int) Number of channels [1-6]. Defaults to 1. +// 2. (int) Horizontal resolution. +// 3. (int) Vertical resolution. +// 4. (float) Horizontal field-of-view (fov_x), in degrees. +// 5. (float) Vertical field-of-view (fov_y), in degrees. +// 6. (float) Foveal deformation. Defaults to 0. +class TouchGrid { + public: + static TouchGrid* Create(const mjModel* m, mjData* d, int instance); + TouchGrid(TouchGrid&&) = default; + ~TouchGrid() = default; + + void Reset(const mjModel* m, int instance); + void Compute(const mjModel* m, mjData* d, int instance); + void Visualize(const mjModel* m, mjData* d, const mjvOption* opt, + mjvScene* scn, int instance); + + static void RegisterPlugin(); + + int nchannel_; // number of channels (1-6) + int size_x_; // horizontal resolution + int size_y_; // vertical resolution + mjtNum fov_x_; // horizontal field of view, in degrees + mjtNum fov_y_; // vertical field of view, in degrees + mjtNum gamma_; // foveal deformation + + private: + TouchGrid(const mjModel* m, mjData* d, int instance, int nchannel, int size_x, + int size_y, mjtNum fov_x, mjtNum fov_y, mjtNum gamma); + std::vector distance_; +}; + +} // namespace mujoco::plugin::sensor + +#endif // MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_ diff --git a/test/plugin/sensor/CMakeLists.txt b/test/plugin/sensor/CMakeLists.txt new file mode 100644 index 00000000..4adcba29 --- /dev/null +++ b/test/plugin/sensor/CMakeLists.txt @@ -0,0 +1,21 @@ +# Copyright 2022 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 +# +# https://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_test( + sensor_test + PROPERTIES + ENVIRONMENT + "MUJOCO_PLUGIN_DIR=$" +) +target_link_libraries(sensor_test fixture gmock) diff --git a/test/plugin/sensor/sensor_test.cc b/test/plugin/sensor/sensor_test.cc new file mode 100644 index 00000000..dcab51b3 --- /dev/null +++ b/test/plugin/sensor/sensor_test.cc @@ -0,0 +1,45 @@ +// Copyright 2023 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. + +// Tests for sensor plugins. + +#include +#include +#include +#include +#include +#include "test/fixture.h" + +namespace mujoco { +namespace { + +using SensorPluginTest = MujocoTest; + +static const char* const kTOuchGridPath = + "plugin/sensor/testdata/touch_grid_test.xml"; + +TEST_F(SensorPluginTest, ValidAttributes) { + const std::string xml_path = GetTestDataFilePath(kTOuchGridPath); + char error[1024] = {0}; + mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)); + ASSERT_THAT(model, testing::NotNull()) << error; + int nchannel = 3; + int size_x = 6; + int size_y = 2; + EXPECT_THAT(model->sensor_dim[0], nchannel * size_x * size_y); + mj_deleteModel(model); +} + +} // namespace +} // namespace mujoco diff --git a/test/plugin/sensor/testdata/touch_grid_test.xml b/test/plugin/sensor/testdata/touch_grid_test.xml new file mode 100644 index 00000000..c78a894a --- /dev/null +++ b/test/plugin/sensor/testdata/touch_grid_test.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + +