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Add control plugin API.

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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
This commit is contained in:
Saran Tunyasuvunakool
2022-12-06 08:23:07 -08:00
committed by Copybara-Service
parent 60fbb77b2a
commit e4f1d584ad
14 changed files with 70 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+8 -4
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@@ -1148,18 +1148,19 @@ struct mjModel_ {
char* names; // names of all objects, 0-terminated (nnames x 1)
};
typedef struct mjModel_ mjModel;
typedef enum mjtPluginTypeBit_ {
typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_ACTUATOR = 1<<0,
mjPLUGIN_SENSOR = 1<<1,
mjPLUGIN_PASSIVE = 1<<2,
} mjtPluginTypeBit;
mjPLUGIN_CONTROL = 1<<3,
} mjtPluginCapabilityBit;
struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin
int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes
int type; // bitfield of mjtPluginTypeBits specifying the plugin type
int capabilities; // bitfield of mjtPluginCapabilityBit specifying optional plugin capabilities
int needstage; // an mjtStage enum value specifying the sensor computation stage
// number of mjtNums needed to store the state of a plugin instance (required)
@@ -1181,10 +1182,13 @@ struct mjpPlugin_ {
void (*reset)(const mjModel* m, mjData* d, int instance);
// called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int type);
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
// called when time integration occurs (optional)
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
};
typedef struct mjpPlugin_ mjpPlugin;
typedef enum mjtGridPos_ { // grid position for overlay
include/mujoco/mjplugin.h
+5 -4
View File
@@ -20,11 +20,12 @@
#include <mujoco/mjvisualize.h>
typedef enum mjtPluginTypeBit_ {
typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_ACTUATOR = 1<<0,
mjPLUGIN_SENSOR = 1<<1,
mjPLUGIN_PASSIVE = 1<<2,
} mjtPluginTypeBit;
mjPLUGIN_CONTROL = 1<<3,
} mjtPluginCapabilityBit;
struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin
@@ -32,7 +33,7 @@ struct mjpPlugin_ {
int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes
int type; // bitfield of mjtPluginTypeBits specifying the plugin type
int capabilities; // bitfield of mjtPluginCapabilityBit specifying optional plugin capabilities
int needstage; // an mjtStage enum value specifying the sensor computation stage
// number of mjtNums needed to store the state of a plugin instance (required)
@@ -54,7 +55,7 @@ struct mjpPlugin_ {
void (*reset)(const mjModel* m, mjData* d, int instance);
// called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int type);
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
// called when time integration occurs (optional)
void (*advance)(const mjModel* m, mjData* d, int instance);
introspect/enums.py
+4 -3
View File
@@ -550,14 +550,15 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjSTEREO_SIDEBYSIDE', 2),
]),
)),
('mjtPluginTypeBit',
('mjtPluginCapabilityBit',
EnumDecl(
name='mjtPluginTypeBit',
declname='enum mjtPluginTypeBit_',
name='mjtPluginCapabilityBit',
declname='enum mjtPluginCapabilityBit_',
values=dict([
('mjPLUGIN_ACTUATOR', 1),
('mjPLUGIN_SENSOR', 2),
('mjPLUGIN_PASSIVE', 4),
('mjPLUGIN_CONTROL', 8),
]),
)),
('mjtGridPos',
plugin/elasticity/cable.cc
+6 -5
View File
@@ -277,7 +277,7 @@ void Cable::RegisterPlugin() {
mjp_defaultPlugin(&plugin);
plugin.name = "mujoco.elasticity.cable";
plugin.type |= mjPLUGIN_PASSIVE;
plugin.capabilities |= mjPLUGIN_PASSIVE;
const char* attributes[] = {"twist", "bend", "flat", "vmax"};
plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
@@ -297,10 +297,11 @@ return 0;
delete reinterpret_cast<Cable*>(d->plugin_data[instance]);
d->plugin_data[instance] = 0;
};
plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Compute(m, d, instance);
};
plugin.compute =
+[](const mjModel* m, mjData* d, int instance, int capability_bit) {
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Compute(m, d, instance);
};
plugin.visualize =
+[](const mjModel* m, mjData* d, mjvScene* scn, int instance) {
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
plugin/elasticity/cable.h
+1 -2
View File
@@ -30,8 +30,7 @@ class Cable {
public:
// Creates a new Cable instance (allocated with `new`) or
// returns null on failure.
static std::optional<Cable> Create(const mjModel* m, mjData* d,
int instance);
static std::optional<Cable> Create(const mjModel* m, mjData* d, int instance);
Cable(Cable&&) = default;
~Cable() = default;
plugin/elasticity/solid.cc
+6 -5
View File
@@ -347,7 +347,7 @@ void Solid::RegisterPlugin() {
mjp_defaultPlugin(&plugin);
plugin.name = "mujoco.elasticity.solid";
plugin.type |= mjPLUGIN_PASSIVE;
plugin.capabilities |= mjPLUGIN_PASSIVE;
const char* attributes[] = {"nx", "ny", "nz", "young", "poisson", "damping"};
plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
@@ -367,10 +367,11 @@ void Solid::RegisterPlugin() {
delete reinterpret_cast<Solid*>(d->plugin_data[instance]);
d->plugin_data[instance] = 0;
};
plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
auto* elasticity = reinterpret_cast<Solid*>(d->plugin_data[instance]);
elasticity->Compute(m, d, instance);
};
plugin.compute =
+[](const mjModel* m, mjData* d, int instance, int capability_bit) {
auto* elasticity = reinterpret_cast<Solid*>(d->plugin_data[instance]);
elasticity->Compute(m, d, instance);
};
mjp_registerPlugin(&plugin);
}
plugin/elasticity/solid.h
+1 -2
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@@ -33,8 +33,7 @@ struct Stencil {
class Solid {
public:
// Returns a new Solid instance or nullopt on failure.
static std::optional<Solid> Create(const mjModel* m, mjData* d,
int instance);
static std::optional<Solid> Create(const mjModel* m, mjData* d, int instance);
Solid(Solid&&) = default;
Solid& operator=(Solid&& other) = default;
src/engine/engine_core_smooth.c
+1 -1
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@@ -1454,7 +1454,7 @@ void mj_passive(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if (plugin->type & mjPLUGIN_PASSIVE) {
if (plugin->capabilities & mjPLUGIN_PASSIVE) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
}
src/engine/engine_forward.c
+26 -4
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@@ -279,7 +279,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if (plugin->type & mjPLUGIN_ACTUATOR) {
if (plugin->capabilities & mjPLUGIN_ACTUATOR) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
}
@@ -774,9 +774,31 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
}
// acceleration-dependent
if (mjcb_control && !mjDISABLED(mjDSBL_ACTUATION)) {
mjcb_control(m, d);
}
if (!mjDISABLED(mjDSBL_ACTUATION)) {
// call legacy control callback if specified
if (mjcb_control) {
mjcb_control(m, d);
}
// handle control plugins
if (m->nplugin) {
const int nslot = mjp_pluginCount();
for (int i=0; i<m->nplugin; i++) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if (plugin->capabilities & mjPLUGIN_CONTROL) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_CONTROL);
}
}
}
}
mj_fwdActuation(m, d);
mj_fwdAcceleration(m, d);
mj_fwdConstraint(m, d);
src/engine/engine_sensor.c
+3 -3
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@@ -357,7 +357,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if ((plugin->type & mjPLUGIN_SENSOR) &&
if ((plugin->capabilities & mjPLUGIN_SENSOR) &&
(plugin->needstage==mjSTAGE_POS || plugin->needstage==mjSTAGE_NONE)) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
@@ -538,7 +538,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if ((plugin->type & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) {
if ((plugin->capabilities & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) {
if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot);
}
@@ -747,7 +747,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if ((plugin->type & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) {
if ((plugin->capabilities & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) {
if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot);
}
src/user/user_model.cc
+1 -1
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@@ -2633,7 +2633,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
m->plugin_stateadr[i] = stateadr;
m->plugin_statenum[i] = nstate;
stateadr += nstate;
if (plugin->type & mjPLUGIN_SENSOR) {
if (plugin->capabilities & mjPLUGIN_SENSOR) {
for (int sensor_id : plugin_to_sensors[i]) {
if (!plugin->nsensordata) {
mju_error_i("`reset` is null for plugin at slot %d", m->plugin[i]);
src/user/user_objects.cc
+3 -3
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@@ -819,7 +819,7 @@ void mjCBody::Compile(void) {
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->type & mjPLUGIN_PASSIVE)) {
if (!(plugin->capabilities & mjPLUGIN_PASSIVE)) {
throw mjCError(this, "plugin '%s' does not support passive forces", plugin->name);
}
}
@@ -3618,7 +3618,7 @@ void mjCActuator::Compile(void) {
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->type & mjPLUGIN_ACTUATOR)) {
if (!(plugin->capabilities & mjPLUGIN_ACTUATOR)) {
throw mjCError(this, "plugin '%s' does not support actuators", plugin->name);
}
}
@@ -4006,7 +4006,7 @@ void mjCSensor::Compile(void) {
{
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->type & mjPLUGIN_SENSOR)) {
if (!(plugin->capabilities & mjPLUGIN_SENSOR)) {
throw mjCError(this, "plugin '%s' does not support sensors", plugin->name);
}
needstage = static_cast<mjtStage>(plugin->needstage);
test/engine/engine_plugin_test.cc
+3 -3
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@@ -206,7 +206,7 @@ int RegisterSensorPlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes;
plugin.type |= mjPLUGIN_SENSOR;
plugin.capabilities |= mjPLUGIN_SENSOR;
plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
plugin.nsensordata =
@@ -250,7 +250,7 @@ int RegisterActuatorPlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes;
plugin.type |= mjPLUGIN_ACTUATOR;
plugin.capabilities |= mjPLUGIN_ACTUATOR;
plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
@@ -292,7 +292,7 @@ int RegisterPassivePlugin() {
plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes;
plugin.type |= mjPLUGIN_PASSIVE;
plugin.capabilities |= mjPLUGIN_PASSIVE;
plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
unity/Runtime/Bindings/MujocoBindings.cs
+2 -1
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@@ -361,10 +361,11 @@ public enum mjtLRMode : int{
mjLRMODE_MUSCLEUSER = 2,
mjLRMODE_ALL = 3,
}
public enum mjtPluginTypeBit : int{
public enum mjtPluginCapabilityBit : int{
mjPLUGIN_ACTUATOR = 1,
mjPLUGIN_SENSOR = 2,
mjPLUGIN_PASSIVE = 4,
mjPLUGIN_CONTROL = 8,
}
public enum mjtGridPos : int{
mjGRID_TOPLEFT = 0,