LuckyRobots/LuckyWorldV2
5
2
Fork 1
Code Issues 9 Pull Requests 2 Actions Packages Projects 2 Releases Wiki Activity

FT - Contact Exclusion list for XML scene creation

Browse Source 
+ This feature was missing from the plugin while being necessary for robots to work
+ e.g. SO100 requires the main body and the first arm to have contact exclusion, I guess the piece are too tight in the model?
+ This is not clean, but making it right requires to have a better understanding of how the MuJoCo actor works - problem for future self
This commit is contained in:
Jb win 2025-04-30 16:25:40 +07:00
parent a4dcdb561e
commit a5bbfa56ea
6 changed files with 80 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
View File

@ -115,7 +115,7 @@ void AMujocoVolumeActor::BindPostPhysicDelegate(UserClass* Object, void(UserClas
PostPhysicUpdateDelegate.BindUObject(Object, Func);
}
void AMujocoVolumeActor::InitializeMujoco()
void AMujocoVolumeActor::InitializeMujoco(TMap<FString, FString> ContactExclusion)
{
if (!Options)
{
@ -155,7 +155,7 @@ void AMujocoVolumeActor::InitializeMujoco()
}
TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(Options, Objects, ExportFilename);
TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(Options, Objects, ExportFilename, ContactExclusion);
FString XmlString;
tinyxml2::XMLPrinter Printer;
@ -403,14 +403,10 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
{
if (MujocoData)
{
// TODO rename FrameSkip -> SimStepsPerGameFrame - Min 1 - Default 16
// TODO timestep default .001 (1ms)
// TODO mj_step only inside the for loop
mj_step(MujocoModel.Get(), MujocoData.Get());
PostPhysicUpdateDelegate.ExecuteIfBound(MujocoData->time);
for (int32 Frame = 0; Frame < FrameSkip; ++Frame)
// Default SimStepsPerGameFrame = 16 x 1ms for roughly 60FPS
// If ticks are strictly 16.666 ms then simulation will lag behind UE clock
// Anyway, we need a proper synchronisation between UE and Sim times - probably using TempoTime?
for (int32 SimStep = 0; SimStep < SimStepsPerGameFrame; ++SimStep)
{
mj_step(MujocoModel.Get(), MujocoData.Get());
PostPhysicUpdateDelegate.ExecuteIfBound(MujocoData->time);

30
Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/MujocoXmlGenerator.cpp
View File

@ -1255,7 +1255,11 @@ bool FMujocoXmlGenerator::ParseActorAsset(AActor* Actor, tinyxml2::XMLElement* R
return true;
}
TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(const TObjectPtr<UMujocoExportOptions>& ExportOptions, const TArray<UObject*>& Objects, const FString& ExportFilename)
TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(
const TObjectPtr<UMujocoExportOptions>& ExportOptions,
const TArray<UObject*>& Objects,
const FString& ExportFilename,
TMap<FString, FString> ContactExclusion)
{
TUniquePtr<tinyxml2::XMLDocument> Doc = MakeUnique<tinyxml2::XMLDocument>();
Doc->InsertFirstChild(Doc->NewDeclaration("xml version=\"1.0\" encoding=\"utf-8\""));
@ -1268,6 +1272,30 @@ TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(const T
Root->InsertEndChild(Doc->NewElement("equality"));
Root->InsertEndChild(Doc->NewElement("tendon"));
Root->InsertEndChild(Doc->NewElement("actuator"));
// TODO Refacto using property from the MujocoActor aka the robot
// TODO Maybe using a ParentObject as parameter which holds that information?
// TODO Need actor refactoring anyway - Merge Pawn and Mujoco Actor?
if (!ContactExclusion.IsEmpty())
{
Root->InsertEndChild(Doc->NewElement("contact"));
for (auto& [Body1, Body2] : ContactExclusion)
{
// Don't add empty strings to the map please!
if (Body1.IsEmpty() || Body2.IsEmpty()) continue;
// Create the contact exclusion - formatted as (SO100 example)
// <exclude body1="Body_Base" body2="Body_Rotation_Pitch"/>
const auto Exclude = Doc->NewElement("exclude");
Exclude->SetAttribute("body1", TCHAR_TO_ANSI(*Body1));
Exclude->SetAttribute("body2", TCHAR_TO_ANSI(*Body2));
// Add exclusion to the contact tag
Root->FirstChildElement("contact")->InsertEndChild(Exclude);
}
}
if (ExportOptions->bAddSkyBox)
{
tinyxml2::XMLElement* TextureElement = AssetRoot->GetDocument()->NewElement("texture");

45
Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
View File

@ -30,6 +30,27 @@ class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
{
GENERATED_BODY()
public:
AMujocoVolumeActor();
UFUNCTION(BlueprintCallable, Category = "Mujoco")
/**
* Initialize the sim scene in headless mujoco
* @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
* TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
* TODO This require to cast the Actor in addition to the components list
*/
void InitializeMujoco(TMap<FString, FString> ContactExclusion);
protected:
virtual void BeginPlay() override;
virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
virtual void PostRegisterAllComponents() override;
virtual void Tick(float DeltaTime) override;
virtual void PostInitializeComponents() override;
private:
TMujocoModelPtr MujocoModel;
TMujocoDataPtr MujocoData;
@ -54,24 +75,11 @@ class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
UPROPERTY(Transient, VisibleAnywhere, Category = "Mujoco | Debug")
TArray<TSoftObjectPtr<UMujocoTendonComponent>> TendonComponents;
UFUNCTION(BlueprintCallable, Category = "Mujoco")
void InitializeMujoco();
template <typename ComponentType> void AssignComponentsToArray(UWorld* World, TArray<TSoftObjectPtr<ComponentType>>& ComponentArray);
public:
AMujocoVolumeActor();
protected:
virtual void BeginPlay() override;
virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
virtual void PostRegisterAllComponents() override;
virtual void Tick(float DeltaTime) override;
virtual void PostInitializeComponents() override;
public:
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 0, Max = 100, ClampMin = 0, ClampMax = 100))
int32 FrameSkip = 0;
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 1, Max = 100, ClampMin = 0, ClampMax = 100))
int32 SimStepsPerGameFrame = 16;
UPROPERTY(EditDefaultsOnly, BlueprintReadWrite, Category = "Mujoco")
TObjectPtr<UBillboardComponent> SpriteComponent;
@ -89,7 +97,7 @@ public:
FOnMujocoCompileSuccess OnMujocoCompileSuccess;
/**
* @description
* Access MuJoCo scene options and data (e.g. Simulation time) - This is mutable, be careful
* @return mjData_ - Full access to mujoco scene options and data
*/
mjData_& GetMujocoData() const;
@ -101,8 +109,9 @@ private:
FPostPhysicUpdate PostPhysicUpdateDelegate;
public:
/**
* @description Register a delegate to be executed after mj_step
* @param Object
* Register a delegate to be executed after mj_step, useful to fine control actuators
* @param Object - The Class to call
* @param Func - The Function to call - takes a float as parameter which is the current simulation timestamp
*/
template<typename UserClass>
void BindPostPhysicDelegate(UserClass* Object, void (UserClass::*Func)(float));

2
Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/MujocoOptions.h
View File

@ -313,7 +313,7 @@ struct LUCKYMUJOCO_API FMujocoOptions
/** Simulation time step in seconds. */
UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (Attribute = "timestep", EditCondition = "bOverrideTimeStep", ClampMin = 0.0001, ClampMax = 0.01, UIMin = 0.0001, UIMax = 0.01))
float TimeStep = 0.002f;
float TimeStep = 0.001f; // Default to 1ms
/** Override API Rate setting. */
UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (InlineEditConditionToggle))

17
Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/MujocoXmlGenerator.h
View File

@ -35,6 +35,19 @@ class LUCKYMUJOCO_API FMujocoXmlGenerator
TMap<FString, TSoftObjectPtr<UObject>> ObjectMap;
public:
TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(const TObjectPtr<UMujocoExportOptions>& ExportOptions, const TArray<UObject*>& Objects, const FString& ExportFilename);
public:
/**
* Generate the XML file used by the MuJoCo headless scene representing the physics simulation
* @param ExportOptions TODO - What they can be?
* @param Objects Actors and Components to be added to the scene
* @param ExportFilename pretty much that
* @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
* TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
*/
TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(
const TObjectPtr<UMujocoExportOptions>& ExportOptions,
const TArray<UObject*>& Objects,
const FString& ExportFilename,
TMap<FString, FString> ContactExclusion);
};

4
Plugins/LuckyMujoco/Source/LuckyMujocoEditor/Private/MujocoExporter.cpp
View File

@ -141,8 +141,8 @@ public:
CancelButton->SetEnabled(false);
RequestDestroyWindow();
TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename);
const TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
const TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename, TMap<FString, FString>{});
FString XmlString;
tinyxml2::XMLPrinter Printer;