Add support for global custom numeric fields.

PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09

unity/Runtime/Components/MjGlobalSettings.cs

@@ -143,32 +143,18 @@ public struct MjcfOptionFlag {
 
 [Serializable]
 public struct MjSizeStruct {
-  public int Njmax;
+  public String Memory;
-  public int Nconmax;
-  public int Nstack;
   public static MjSizeStruct Default = new MjSizeStruct() {
-    Njmax = 0,
+    Memory = "-1"
-    Nconmax = 0,
-    Nstack = 0
   };
 
   public void ParseMjcf(XmlElement mjcf) {
     var localDefault = MjSizeStruct.Default;
-    Njmax = (int)mjcf.GetFloatAttribute("njmax", localDefault.Njmax);
+    Memory = mjcf.GetAttribute("memory", localDefault.Memory);
-    Nconmax = (int)mjcf.GetFloatAttribute("nconmax", localDefault.Nconmax);
-    Nstack = (int)mjcf.GetFloatAttribute("nstack", localDefault.Nstack);
   }
 
   public XmlElement ToMjcf(XmlElement mjcf) {
-    if (Njmax > 0) {
+    mjcf.SetAttribute("memory", $"{Memory}");
-      mjcf.SetAttribute("njmax", $"{Njmax}");
-    }
-    if (Nconmax > 0) {
-      mjcf.SetAttribute("nconmax", $"{Nconmax}");
-    }
-    if (Nstack > 0) {
-      mjcf.SetAttribute("nstack", $"{Nstack}");
-    }
     return mjcf;
   }
 }
@@ -327,6 +313,13 @@ public struct MjOptionStruct {
   }
 }
 
+[Serializable]
+public class NumericEntry {
+  public String Name;
+  [Tooltip("Space-separated list of floats.")]
+  public String Data;
+}
+
 public class MjGlobalSettings : MonoBehaviour {
 
   [Tooltip("Filename for the generated scene XML.")]
@@ -339,6 +332,8 @@ public class MjGlobalSettings : MonoBehaviour {
 
   public MjSizeStruct GlobalSizes = MjSizeStruct.Default;
 
+  public List<NumericEntry> CustomNumeric = new List<NumericEntry>() {};
+
   public static MjGlobalSettings Instance {
     get {
      if (_instance == null) {
@@ -365,18 +360,44 @@ public class MjGlobalSettings : MonoBehaviour {
     }
   }
 
-  public void ParseOptionSizeMjcf(XmlElement option, XmlElement size) {
+  public void ParseGlobalMjcfSections(XmlElement mujocoNode) {
-    if (option != null) {
+
-      GlobalOptions.ParseMjcf(option);
+    var optionNode = mujocoNode.SelectSingleNode("option") as XmlElement;
+    var sizeNode = mujocoNode.SelectSingleNode("size") as XmlElement;
+    var customNode = mujocoNode.SelectSingleNode("custom") as XmlElement;
+
+    if (optionNode != null) {
+      GlobalOptions.ParseMjcf(optionNode);
     }
-    if (size != null) {
+    if (sizeNode != null) {
-      GlobalSizes.ParseMjcf(size);
+      GlobalSizes.ParseMjcf(sizeNode);
+    }
+    if (customNode != null) {
+      foreach (var childNode in customNode.ChildNodes) {
+        var child = childNode as XmlElement;
+        if (child.Name == "numeric") {
+          var numeric = new NumericEntry();
+          numeric.Name = child.GetAttribute("name");
+          numeric.Data = child.GetAttribute("data");
+          CustomNumeric.Add(numeric);
+        }
+      }
     }
   }
 
-  public void OptionSizeToMjcf(XmlElement option, XmlElement size) {
+  public void GlobalsToMjcf(XmlElement mjcf) {
-    GlobalOptions.ToMjcf(option);
+    var doc = mjcf.OwnerDocument;
-    GlobalSizes.ToMjcf(size);
+    var optionMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("option"));
+    GlobalOptions.ToMjcf(optionMjcf);
+    var sizeMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("size"));
+    GlobalSizes.ToMjcf(sizeMjcf);
+    var customMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("custom"));
+    foreach (var numeric in CustomNumeric) {
+      var numericMjcf = (XmlElement)customMjcf.AppendChild(doc.CreateElement("numeric"));
+      numericMjcf.SetAttribute("name", numeric.Name);
+      // TODO: add validation that data is a space-separated list of floating numbers?
+      numericMjcf.SetAttribute("data", numeric.Data);
+    }
   }
 }
 }

unity/Runtime/Importer/MjcfImporter.cs

@@ -133,30 +133,25 @@ public class MjcfImporter {
     }
   }
 
-  protected virtual void ParseRoot(GameObject parentObject, XmlElement parentNode) {
+  protected virtual void ParseRoot(GameObject rootObject, XmlElement mujocoNode) {
 
-    // This makes no references nor being referred into, so it can be parsed whenever.
+    var globalsObject = CreateGameObjectInParent("Global Settings", rootObject);
-    var optionNode = parentNode.SelectSingleNode("option") as XmlElement;
+    var settingsComponent = globalsObject.AddComponent<MjGlobalSettings>();
-    var sizeNode = parentNode.SelectSingleNode("size") as XmlElement;
+    settingsComponent.ParseGlobalMjcfSections(mujocoNode);
-    if (optionNode != null || sizeNode != null) {
-      var globalsObject = CreateGameObjectInParent("Global Settings", parentObject);
-      var settingsComponent = globalsObject.AddComponent<MjGlobalSettings>();
-      settingsComponent.ParseOptionSizeMjcf(optionNode, sizeNode);
-    }
 
     // This makes references to assets.
-    var worldBodyNode = parentNode.SelectSingleNode("worldbody") as XmlElement;
+    var worldBodyNode = mujocoNode.SelectSingleNode("worldbody") as XmlElement;
-    ParseBodyChildren(parentObject, worldBodyNode);
+    ParseBodyChildren(rootObject, worldBodyNode);
 
     // This section references bodies, must be parsed after worldbody.
-    var excludeNode = parentNode.SelectSingleNode("contact") as XmlElement;
+    var excludeNode = mujocoNode.SelectSingleNode("contact") as XmlElement;
     if (excludeNode != null) {
-      var excludesParentObject = CreateGameObjectInParent("excludes", parentObject);
+      var excludesParentObject = CreateGameObjectInParent("excludes", rootObject);
       foreach (var child in excludeNode.OfType<XmlElement>()) {
         if (child.Name != "exclude") {
           Debug.LogWarning(
               $"Only 'exclude' is supported - {child.Name} isn't supported yet.",
-              parentObject);
+              rootObject);
         } else {
           _modifiers.ApplyModifiersToElement(child);
           CreateGameObjectWithUniqueName<MjExclude>(excludesParentObject, child);
@@ -165,9 +160,9 @@ public class MjcfImporter {
     }
 
     // This section references joints/sites/geoms, must be parsed after worldbody.
-    var tendonNode = parentNode.SelectSingleNode("tendon") as XmlElement;
+    var tendonNode = mujocoNode.SelectSingleNode("tendon") as XmlElement;
     if (tendonNode != null) {
-      var tendonsParentObject = CreateGameObjectInParent("tendons", parentObject);
+      var tendonsParentObject = CreateGameObjectInParent("tendons", rootObject);
       foreach (var child in tendonNode.OfType<XmlElement>()) {
         if (child.Name == "fixed") {
           CreateGameObjectWithUniqueName<MjFixedTendon>(tendonsParentObject, child);
@@ -180,9 +175,9 @@ public class MjcfImporter {
     }
 
     // This section references worldbody elements + tendons, must be parsed after them.
-    var equalityNode = parentNode.SelectSingleNode("equality") as XmlElement;
+    var equalityNode = mujocoNode.SelectSingleNode("equality") as XmlElement;
     if (equalityNode != null) {
-      var equalitiesParentObject = CreateGameObjectInParent("equality constraints", parentObject);
+      var equalitiesParentObject = CreateGameObjectInParent("equality constraints", rootObject);
       foreach (var child in equalityNode.OfType<XmlElement>()) {
         var equalityType = ParseEqualityType(child);
         _modifiers.ApplyModifiersToElement(child);
@@ -191,9 +186,9 @@ public class MjcfImporter {
     }
 
     // This section references joints and tendons, must be parsed after worldbody and tendon.
-    var actuatorNode = parentNode.SelectSingleNode("actuator") as XmlElement;
+    var actuatorNode = mujocoNode.SelectSingleNode("actuator") as XmlElement;
     if (actuatorNode != null) {
-      var actuatorsParentObject = CreateGameObjectInParent("actuators", parentObject);
+      var actuatorsParentObject = CreateGameObjectInParent("actuators", rootObject);
       foreach (var child in actuatorNode.OfType<XmlElement>()) {
         _modifiers.ApplyModifiersToElement(child);
         CreateGameObjectWithUniqueName<MjActuator>(actuatorsParentObject, child);
@@ -201,9 +196,9 @@ public class MjcfImporter {
     }
 
     // This section references tendons, actuators and worldbody elements, must be parsed last.
-    var sensorNode = parentNode.SelectSingleNode("sensor") as XmlElement;
+    var sensorNode = mujocoNode.SelectSingleNode("sensor") as XmlElement;
     if (sensorNode != null) {
-      var sensorParentObject = CreateGameObjectInParent("sensors", parentObject);
+      var sensorParentObject = CreateGameObjectInParent("sensors", rootObject);
       foreach (var child in sensorNode.OfType<XmlElement>()) {
         _modifiers.ApplyModifiersToElement(child);
         var sensorType = ParseSensorType(child);

unity/Runtime/Tools/MjcfGenerationContext.cs

@@ -74,7 +74,7 @@ public class MjcfGenerationContext {
 
     var settings = MjGlobalSettings.Instance;
     if (settings) {
-      settings.OptionSizeToMjcf(optionMjcf, null);
+      settings.GlobalsToMjcf(mjcf);
     }
   }
 

unity/Tests/Editor/Components/MjGlobalSettingsTests.cs

@@ -26,16 +26,13 @@ public class MjGlobalSettingsGenerationTests {
 
   private MjGlobalSettings _settings;
   private XmlDocument _doc;
-  private XmlElement _option;
+  private XmlElement _root;
-  private XmlElement _size;
 
   [SetUp]
   public void SetUp() {
     _settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
     _doc = new XmlDocument();
-    var root = (XmlElement)_doc.AppendChild(_doc.CreateElement("root"));
+    _root = (XmlElement)_doc.AppendChild(_doc.CreateElement("root"));
-    _option = (XmlElement)root.AppendChild(_doc.CreateElement("option"));
-    _size = (XmlElement)root.AppendChild(_doc.CreateElement("size"));
   }
 
   [TearDown]
@@ -61,9 +58,9 @@ public class MjGlobalSettingsGenerationTests {
     _settings.GlobalOptions.NoSlipTolerance = 6.7f;
     _settings.GlobalOptions.MprIterations = 8;
     _settings.GlobalOptions.MprTolerance = 0.9f;
-    _settings.GlobalSizes.Nconmax = 321;
+    _settings.GlobalSizes.Memory = "1M";
 
-    _settings.OptionSizeToMjcf(_option, _size);
+    _settings.GlobalsToMjcf(_root);
     Assert.That(_doc.OuterXml, Does.Contain(@"impratio=""1.2"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"magnetic=""3.4 4.5 5.6"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"wind=""6.7 7.8 8.9"""));
@@ -89,7 +86,7 @@ public class MjGlobalSettingsGenerationTests {
   [Test]
   public void GenerateFlag() {
     _settings.GlobalOptions.Flag.Gravity = EnableDisableFlag.disable;
-    _settings.OptionSizeToMjcf(_option, _size);
+    _settings.GlobalsToMjcf(_root);
     Assert.That(_doc.OuterXml, Does.Contain(@"gravity=""disable"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"constraint="));
     Assert.That(_doc.OuterXml, Does.Contain(@"equality="));
@@ -113,18 +110,22 @@ public class MjGlobalSettingsGenerationTests {
 public class MjGlobalSettingsParsingTests {
 
   private MjGlobalSettings _settings;
+  private XmlElement _root;
   private XmlElement _option;
   private XmlElement _size;
   private XmlElement _flag;
+  private XmlElement _numeric;
 
   [SetUp]
   public void SetUp() {
     _settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
     var doc = new XmlDocument();
-    var root = (XmlElement)doc.AppendChild(doc.CreateElement("root"));
+    _root = (XmlElement)doc.AppendChild(doc.CreateElement("root"));
-    _option = (XmlElement)root.AppendChild(doc.CreateElement("option"));
+    _option = (XmlElement)_root.AppendChild(doc.CreateElement("option"));
-    _size = (XmlElement)root.AppendChild(doc.CreateElement("size"));
+    _size = (XmlElement)_root.AppendChild(doc.CreateElement("size"));
     _flag = (XmlElement)_option.AppendChild(doc.CreateElement("flag"));
+    var custom = (XmlElement)_root.AppendChild(doc.CreateElement("custom"));
+    _numeric = (XmlElement)custom.AppendChild(doc.CreateElement("numeric"));
   }
 
   [TearDown]
@@ -154,9 +155,12 @@ public class MjGlobalSettingsParsingTests {
 
     _flag.SetAttribute("gravity", "disable");
 
-    _size.SetAttribute("nconmax", "432");
+    _size.SetAttribute("memory", "1M");
 
-    _settings.ParseOptionSizeMjcf(_option, _size);
+    _numeric.SetAttribute("name", "numeric_name");
+    _numeric.SetAttribute("data", "1 2 3");
+
+    _settings.ParseGlobalMjcfSections(_root);
     Assert.That(_settings.GlobalOptions.ImpRatio, Is.EqualTo(1.2f));
     Assert.That(_settings.GlobalOptions.Magnetic, Is.EqualTo(new Vector3(3.4f, 4.5f, 5.6f)));
     Assert.That(_settings.GlobalOptions.Wind, Is.EqualTo(new Vector3(6.7f, 7.8f, 8.9f)));
@@ -176,22 +180,11 @@ public class MjGlobalSettingsParsingTests {
 
     Assert.That(_settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
 
-    Assert.That(_settings.GlobalSizes.Nconmax, Is.EqualTo(432));
+    Assert.That(_settings.GlobalSizes.Memory, Is.EqualTo("1M"));
-    // these statements shouldn't fail:
-    _settings.ParseOptionSizeMjcf(_option, null);
-    _settings.ParseOptionSizeMjcf(null, _size);
-  }
 
-  [Test]
+    Assert.That(_settings.CustomNumeric.Count, Is.EqualTo(1));
-  public void AvoidMultipleFlagClauses() {
+    Assert.That(_settings.CustomNumeric[0].Name, Is.EqualTo("numeric_name"));
-    var doubleFlagXML = @"<option>
+    Assert.That(_settings.CustomNumeric[0].Data, Is.EqualTo("1 2 3"));
-      <flag/> <flag/>
-      </option>";
-    var doc = new XmlDocument();
-    doc.LoadXml(doubleFlagXML);
-    Assert.That(
-        () => { _settings.ParseOptionSizeMjcf(doc.DocumentElement, null); },
-        Throws.ArgumentException);
   }
 }
 }

unity/Tests/Editor/Components/MjcfGenerationContextTests.cs

@@ -101,18 +101,6 @@ public class MjcfGenerationContextTests {
     Assert.That(element.OuterXml, Does.Contain("vertex=\"1 0 0 0 0 1 0 1 0 \""));
   }
 
-  [Test]
-  public void SettingNUserSensorValuesKeepsTheHigherValue() {
-    var context = new MjcfGenerationContext();
-    context.NUserSensor = 5;
-    context.NUserSensor = 6;
-    context.NUserSensor = 1;
-    Assert.That(context.NUserSensor, Is.EqualTo(6));
-    var element = new XmlDocument().CreateElement("test");
-    context.GenerateMjcf(element);
-    Assert.That(element.OuterXml, Does.Contain("nuser_sensor=\"6\""));
-  }
-
   #region Test setup.
 
   private MjBody _componentA;

unity/Tests/Editor/Importer/MjcfImporterTests.cs

@@ -247,27 +247,27 @@ public class MjcfImporterTests {
   [Test]
   public void ReadingSize() {
     var mjcfString = @"<mujoco>
-      <size njmax='1234'/>
+      <size memory='1M'/>
       <worldbody/>
     </mujoco>";
     _sceneRoot = _importer.ImportString(
         name: string.Empty, mjcfString: mjcfString);
     var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
-    Assert.That(settings.GlobalSizes.Njmax, Is.EqualTo(1234));
+    Assert.That(settings.GlobalSizes.Memory, Is.EqualTo("1M"));
   }
 
   [Test]
   public void ReadingOptionAndSize() {
     var mjcfString = @"<mujoco>
       <option impratio='5.4321'/>
-      <size njmax='4321'/>
+      <size memory='16K'/>
       <worldbody/>
     </mujoco>";
     _sceneRoot = _importer.ImportString(
         name: string.Empty, mjcfString: mjcfString);
     var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
     Assert.That(settings.GlobalOptions.ImpRatio, Is.EqualTo(5.4321f));
-    Assert.That(settings.GlobalSizes.Njmax, Is.EqualTo(4321));
+    Assert.That(settings.GlobalSizes.Memory, Is.EqualTo("16K"));
   }
 
   [Test]