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mj_sim.cpp
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mj_sim.cpp
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#include "mj_sim_impl.h"
#include "mj_utils.h"
#include <cassert>
#include <chrono>
#include <type_traits>
#include "MujocoClient.h"
#include "config.h"
#include "backends/imgui_impl_glfw.h"
#include "backends/imgui_impl_opengl3.h"
#include "implot.h"
#include "ImGuizmo.h"
#include <boost/filesystem.hpp>
namespace bfs = boost::filesystem;
#include <mc_rtc/version.h>
#ifdef USE_UI_ADAPTER
# include "our_glfw_adapter.h"
#endif
namespace mc_mujoco
{
double MjRobot::PD(size_t jnt_id, double q_ref, double q, double qdot_ref, double qdot)
{
double p_error = q_ref - q;
double v_error = qdot_ref - qdot;
double ret = (kp[jnt_id] * p_error + kd[jnt_id] * v_error);
return ret;
}
/* Load PD gains from file (taken from RobotHardware/robot.cpp) */
bool MjRobot::loadGain(const std::string & path_to_pd, const std::vector<std::string> & joints)
{
std::ifstream strm(path_to_pd.c_str());
if(!strm.is_open())
{
mc_rtc::log::error_and_throw<std::runtime_error>("[mc_mujoco] Cannot open PD gains file for {} at {}", name,
path_to_pd);
}
size_t num_joints = joints.size();
if(!num_joints)
{
return false;
}
std::vector<double> default_pgain(num_joints, 0);
std::vector<double> default_dgain(num_joints, 0);
for(int i = 0; i < num_joints; i++)
{
std::string str;
bool getlinep;
while((getlinep = !!(std::getline(strm, str))))
{
if(str.empty())
{
continue;
}
if(str[0] == '#')
{
continue;
}
double tmp;
std::istringstream sstrm(str);
sstrm >> tmp;
default_pgain[i] = tmp;
if(sstrm.eof()) break;
sstrm >> tmp;
default_dgain[i] = tmp;
if(sstrm.eof()) break;
break;
}
if(!getlinep)
{
if(i < num_joints)
{
mc_rtc::log::error(
"[mc_mujoco] loadGain error: size of gains reading from file ({}) does not match size of joints",
path_to_pd);
}
break;
}
}
strm.close();
mc_rtc::log::info("[mc_mujoco] Gains for {}", name);
for(unsigned int i = 0; i < num_joints; i++)
{
mc_rtc::log::info("[mc_mujoco] {}, pgain = {}, dgain = {}", joints[i], default_pgain[i], default_dgain[i]);
// push to kp and kd
default_kp.push_back(default_pgain[i]);
default_kd.push_back(default_dgain[i]);
kp.push_back(default_pgain[i]);
kd.push_back(default_dgain[i]);
}
return true;
}
MjSimImpl::MjSimImpl(const MjConfiguration & config)
: controller(std::make_unique<mc_control::MCGlobalController>(config.mc_config)), config(config)
{
auto get_robot_cfg_path_local = [&](const std::string & robot_name)
{ return bfs::path(mc_mujoco::USER_FOLDER) / (robot_name + ".yaml"); };
auto get_robot_cfg_path_global = [&](const std::string & robot_name)
{ return bfs::path(mc_mujoco::SHARE_FOLDER) / (robot_name + ".yaml"); };
auto get_robot_cfg_path = [&](const std::string & robot_name) -> std::string
{
if(bfs::exists(get_robot_cfg_path_local(robot_name)))
{
return get_robot_cfg_path_local(robot_name).string();
}
if(bfs::exists(get_robot_cfg_path_global(robot_name)))
{
return get_robot_cfg_path_global(robot_name).string();
}
return "";
};
/** Map between name and xml file path of objects specified in mujoco config **/
std::map<std::string, std::string> mjObjects;
/** Map between name and xml file path of objects specified in mc-rtc config **/
std::map<std::string, std::string> mcObjects;
/** Map between name and pdgains file path of objects specified in mc-rtc config **/
std::map<std::string, std::string> pdGainsFiles;
// load all robots named in mujoco config
auto mc_mujoco_cfg_path = fmt::format("{}/mc_mujoco.yaml", USER_FOLDER);
auto mc_mujoco_cfg = [&mc_mujoco_cfg_path]() -> mc_rtc::Configuration
{
if(bfs::exists(mc_mujoco_cfg_path))
{
return {mc_mujoco_cfg_path};
}
return {};
}();
auto config_objects = mc_mujoco_cfg("objects", std::map<std::string, mc_rtc::Configuration>{});
for(const auto & co : config_objects)
{
MjObject object;
object.name = static_cast<std::string>(co.first);
object.init_pose = static_cast<sva::PTransformd>(co.second("init_pos", sva::PTransformd::Identity()));
objects.push_back(object);
std::string module = co.second("module");
auto object_cfg_path = get_robot_cfg_path(module);
if(object_cfg_path.empty())
{
mc_rtc::log::error_and_throw<std::runtime_error>(
"[mc_mujoco] Module ({}) cannot be found at for object {}.\nTried:\n- {}\n- {}", module, co.first,
get_robot_cfg_path_local(module).string(), get_robot_cfg_path_global(module).string());
}
auto object_cfg = mc_rtc::Configuration(object_cfg_path);
if(!object_cfg.has("xmlModelPath"))
{
mc_rtc::log::error_and_throw<std::runtime_error>("Missing xmlModelPath in {}", object_cfg_path);
}
std::string xmlFile = static_cast<std::string>(object_cfg("xmlModelPath"));
mjObjects[object.name] = xmlFile;
if(!bfs::exists(xmlFile))
{
mc_rtc::log::error_and_throw<std::runtime_error>("[mc_mujoco] XML model cannot be found at {} for {}", xmlFile,
co.first);
}
}
// load all robots named in mc-rtc config
for(const auto & r : controller->robots())
{
const auto & robot_cfg_path = get_robot_cfg_path(r.module().name);
if(!robot_cfg_path.empty())
{
auto robot_cfg = mc_rtc::Configuration(robot_cfg_path);
if(!robot_cfg.has("xmlModelPath"))
{
mc_rtc::log::error_and_throw<std::runtime_error>("Missing xmlModelPath in {}", robot_cfg_path);
}
std::string xmlFile = static_cast<std::string>(robot_cfg("xmlModelPath"));
mcObjects[r.name()] = xmlFile;
pdGainsFiles[r.name()] = robot_cfg("pdGainsPath", std::string(""));
if(!bfs::exists(xmlFile))
{
mc_rtc::log::error_and_throw<std::runtime_error>("[mc_mujoco] XML model cannot be found at {} for {}", xmlFile,
r.name());
}
}
}
// load MuJoCo plugins
loadPlugins(mc_mujoco_cfg);
// initial mujoco here and load XML model
bool initialized = mujoco_init(this, mjObjects, mcObjects);
if(!initialized)
{
mc_rtc::log::error_and_throw<std::runtime_error>("[mc_mujoco] Initialized failed.");
}
// read PD gains from file
for(size_t i = 0; i < robots.size(); ++i)
{
auto & r = robots[i];
bool has_motor =
std::any_of(r.mj_mot_names.begin(), r.mj_mot_names.end(), [](const std::string & m) { return !m.empty(); });
const auto & robot = controller->robot(r.name);
if(robot.mb().nrDof() == 0 || (robot.mb().nrDof() == 6 && robot.mb().joint(0).dof() == 6) || !has_motor)
{
continue;
}
if(!bfs::exists(pdGainsFiles[r.name]))
{
mc_rtc::log::error_and_throw<std::runtime_error>("[mc_mujoco] PD gains file for {} cannot be found at {}", r.name,
pdGainsFiles[r.name]);
}
r.loadGain(pdGainsFiles[r.name], controller->robots().robot(r.name).module().ref_joint_order());
}
if(config.with_visualization)
{
mujoco_create_window(this);
if(config.with_mc_rtc_gui)
{
client = std::make_unique<MujocoClient>();
}
}
mc_rtc::log::info("[mc_mujoco] Initialized successful.");
}
void MjSimImpl::cleanup()
{
mujoco_cleanup(this);
}
void MjObject::initialize(mjModel * model)
{
if(!root_body.empty())
{
root_body_id = mj_name2id(model, mjOBJ_BODY, root_body.c_str());
}
if(!root_joint.empty())
{
auto root_joint_id = mj_name2id(model, mjOBJ_JOINT, root_joint.c_str());
root_qpos_idx = model->jnt_qposadr[root_joint_id];
root_qvel_idx = model->jnt_dofadr[root_joint_id];
}
}
void MjRobot::initialize(mjModel * model, const mc_rbdyn::Robot & robot)
{
mj_jnt_ids.resize(0);
for(const auto & j : mj_jnt_names)
{
mj_jnt_ids.push_back(mj_name2id(model, mjOBJ_JOINT, j.c_str()));
}
auto fill_actuator_ids = [&](const std::vector<std::string> & names, std::vector<int> & ids)
{
ids.resize(0);
for(const auto & n : names)
{
if(!n.empty())
{
ids.push_back(mj_name2id(model, mjOBJ_ACTUATOR, n.c_str()));
}
else
{
ids.push_back(-1);
}
}
};
fill_actuator_ids(mj_mot_names, mj_mot_ids);
fill_actuator_ids(mj_pos_act_names, mj_pos_act_ids);
fill_actuator_ids(mj_vel_act_names, mj_vel_act_ids);
if(!root_body.empty())
{
root_body_id = mj_name2id(model, mjOBJ_BODY, root_body.c_str());
}
if(!root_joint.empty())
{
auto root_joint_id = mj_name2id(model, mjOBJ_JOINT, root_joint.c_str());
root_qpos_idx = model->jnt_qposadr[root_joint_id];
root_qvel_idx = model->jnt_dofadr[root_joint_id];
}
auto init_sensor_id = [&](const char * mj_name, const char * mc_name, const std::string & sensor_name,
const char * suffix, mjtSensor type, std::unordered_map<std::string, int> & mapping)
{
auto mj_sensor = prefixed(fmt::format("{}_{}", sensor_name, suffix));
auto sensor_id = mujoco_get_sensor_id(*model, mj_sensor, type);
if(sensor_id == -1)
{
mc_rtc::log::error("[mc_mujoco] No MuJoCo {} for {} {} in {}, expected to find a {} named {}", mj_name,
sensor_name, mc_name, name, mj_name, mj_sensor);
}
mapping[sensor_name] = sensor_id;
};
for(const auto & fs : robot.module().forceSensors())
{
wrenches[fs.name()] = sva::ForceVecd(Eigen::Vector3d(0, 0, 0), Eigen::Vector3d(0, 0, 0));
init_sensor_id("force sensor", "force sensor", fs.name(), "fsensor", mjSENS_FORCE, mc_fs_to_mj_fsensor_id);
init_sensor_id("torque sensor", "force sensor", fs.name(), "tsensor", mjSENS_TORQUE, mc_fs_to_mj_tsensor_id);
}
for(const auto & bs : robot.bodySensors())
{
if(bs.name() == "FloatingBase" || bs.name().empty())
{
continue;
}
gyros[bs.name()] = Eigen::Vector3d::Zero();
accelerometers[bs.name()] = Eigen::Vector3d::Zero();
init_sensor_id("gyro sensor", "body sensor", bs.name(), "gyro", mjSENS_GYRO, mc_bs_to_mj_gyro_id);
init_sensor_id("accelerometer sensor", "body sensor", bs.name(), "accelerometer", mjSENS_ACCELEROMETER,
mc_bs_to_mj_accelerometer_id);
}
reset(robot);
}
void MjRobot::reset(const mc_rbdyn::Robot & robot)
{
const auto & mbc = robot.mbc();
const auto & rjo = robot.module().ref_joint_order();
if(rjo.size() != mj_jnt_names.size())
{
mc_rtc::log::error_and_throw<std::runtime_error>(
"[mc_mujoco] Missmatch in model for {}, reference joint order has {} joints but MuJoCo models has {} joints",
name, rjo.size(), mj_jnt_names.size());
}
mj_to_mbc.resize(0);
mj_prev_ctrl_q.resize(0);
mj_prev_ctrl_alpha.resize(0);
mj_prev_ctrl_jointTorque.resize(0);
mj_jnt_to_rjo.resize(0);
mj_to_mbc.resize(0);
encoders = std::vector<double>(rjo.size(), 0.0);
alphas = std::vector<double>(rjo.size(), 0.0);
torques = std::vector<double>(rjo.size(), 0.0);
for(const auto & mj_jn : mj_jnt_names)
{
const auto & jn = [&]()
{
if(!prefix.empty())
{
return mj_jn.substr(prefix.size() + 1);
}
return mj_jn;
}();
auto rjo_it = std::find(rjo.begin(), rjo.end(), jn);
int rjo_idx = -1;
if(rjo_it != rjo.end())
{
rjo_idx = std::distance(rjo.begin(), rjo_it);
}
mj_jnt_to_rjo.push_back(rjo_idx);
if(robot.hasJoint(jn))
{
auto jIndex = robot.jointIndexByName(jn);
mj_to_mbc.push_back(jIndex);
if(robot.mb().joint(jIndex).dof() != 1)
{
mc_rtc::log::error_and_throw<std::runtime_error>(
"[mc_mujoco] Only support revolute and prismatic joint for control");
}
mj_prev_ctrl_q.push_back(robot.mbc().q[jIndex][0]);
mj_prev_ctrl_alpha.push_back(robot.mbc().alpha[jIndex][0]);
mj_prev_ctrl_jointTorque.push_back(robot.mbc().jointTorque[jIndex][0]);
if(rjo_idx != -1)
{
encoders[rjo_idx] = mj_prev_ctrl_q.back();
alphas[rjo_idx] = mj_prev_ctrl_alpha.back();
torques[rjo_idx] = mj_prev_ctrl_jointTorque.back();
}
}
else
{
mj_to_mbc.push_back(-1);
}
}
mj_ctrl = std::vector<double>(mj_prev_ctrl_q.size(), 0.0);
mj_next_ctrl_q = mj_prev_ctrl_q;
mj_next_ctrl_alpha = mj_prev_ctrl_alpha;
mj_next_ctrl_jointTorque = mj_prev_ctrl_jointTorque;
// reset the PD gains to default values
kp = default_kp;
kd = default_kd;
}
template<typename T>
void MjSimImpl::setPosW(const T & robot, const sva::PTransformd & pos)
{
const auto & t = pos.translation();
Eigen::Quaterniond q = Eigen::Quaterniond(pos.rotation()).inverse();
if(robot.root_qpos_idx != -1 && robot.root_joint_type == mjJNT_FREE)
{
data->qpos[robot.root_qpos_idx + 0] = t.x();
data->qpos[robot.root_qpos_idx + 1] = t.y();
data->qpos[robot.root_qpos_idx + 2] = t.z();
data->qpos[robot.root_qpos_idx + 3] = q.w();
data->qpos[robot.root_qpos_idx + 4] = q.x();
data->qpos[robot.root_qpos_idx + 5] = q.y();
data->qpos[robot.root_qpos_idx + 6] = q.z();
// push linear/angular velocities
mju_zero3(&data->qvel[robot.root_qvel_idx]);
mju_zero3(&data->qvel[robot.root_qvel_idx + 3]);
}
else if(robot.root_body_id != -1)
{
model->body_pos[3 * robot.root_body_id + 0] = t.x();
model->body_pos[3 * robot.root_body_id + 1] = t.y();
model->body_pos[3 * robot.root_body_id + 2] = t.z();
model->body_quat[4 * robot.root_body_id + 0] = q.w();
model->body_quat[4 * robot.root_body_id + 1] = q.x();
model->body_quat[4 * robot.root_body_id + 2] = q.y();
model->body_quat[4 * robot.root_body_id + 3] = q.z();
}
}
sva::PTransformd MjSimImpl::getObjectPosW(const std::string & object) const
{
auto it = std::find_if(objects.begin(), objects.end(), [&](const auto & o) { return o.name == object; });
if(it == objects.end())
{
mc_rtc::log::error_and_throw("Requested position of object {} which is not in this simulation", object);
}
const auto & o = *it;
if(o.root_qpos_idx != -1 && o.root_joint_type == mjJNT_FREE)
{
Eigen::Vector3d t = Eigen::Map<Eigen::Vector3d>(&data->qpos[o.root_qpos_idx]);
// Note: no map here because Eigen::Map wants x, y, z, w
Eigen::Quaterniond q;
q.w() = data->qpos[o.root_qpos_idx + 3];
q.x() = data->qpos[o.root_qpos_idx + 4];
q.y() = data->qpos[o.root_qpos_idx + 5];
q.z() = data->qpos[o.root_qpos_idx + 6];
return {q.inverse(), t};
}
if(o.root_body_id != -1)
{
Eigen::Vector3d t = Eigen::Map<Eigen::Vector3d>(&model->body_pos[3 * o.root_body_id]);
Eigen::Quaterniond q;
q.w() = model->body_quat[4 * o.root_body_id + 0];
q.x() = model->body_quat[4 * o.root_body_id + 1];
q.y() = model->body_quat[4 * o.root_body_id + 2];
q.z() = model->body_quat[4 * o.root_body_id + 3];
return {q.inverse(), t};
}
mc_rtc::log::error_and_throw("Cannot retrieve the position of object {} in simulation", object);
}
void MjSimImpl::setSimulationInitialState()
{
if(controller)
{
for(auto & o : objects)
{
o.initialize(model);
setPosW(o, o.init_pose);
}
for(auto & r : robots)
{
const auto & robot = controller->robots().robot(r.name);
r.initialize(model, robot);
setPosW(r, robot.posW());
for(size_t i = 0; i < r.mj_jnt_ids.size(); ++i)
{
if(r.mj_jnt_to_rjo[i] == -1)
{
continue;
}
data->qpos[model->jnt_qposadr[r.mj_jnt_ids[i]]] = r.encoders[r.mj_jnt_to_rjo[i]];
data->qvel[model->jnt_dofadr[r.mj_jnt_ids[i]]] = r.alphas[r.mj_jnt_to_rjo[i]];
}
}
}
mj_forward(model, data);
}
void MjSimImpl::setObjectPosW(const std::string & object, const sva::PTransformd & pt)
{
for(const auto & o : objects)
{
if(o.name == object)
{
setPosW(o, pt);
return;
}
}
}
void MjSimImpl::setRobotPosW(const std::string & robot, const sva::PTransformd & pt)
{
for(const auto & r : robots)
{
if(r.name == robot)
{
setPosW(r, pt);
return;
}
}
}
void MjSimImpl::makeDatastoreCalls()
{
auto & ds = controller->controller().datastore();
for(auto & o : objects)
{
ds.make_call(o.name + "::SetPosW", [this, name = o.name](const sva::PTransformd & pt) { setObjectPosW(name, pt); });
}
for(auto & r : robots)
{
ds.make_call(r.name + "::SetPosW", [this, name = r.name](const sva::PTransformd & pt) { setRobotPosW(name, pt); });
// make_call for setting pd gains (for all joints)
ds.make_call(r.name + "::SetPDGains",
[this, &r](const std::vector<double> & p_vec, const std::vector<double> & d_vec)
{
const auto & rjo = controller->robots().robot(r.name).module().ref_joint_order();
if(p_vec.size() != rjo.size())
{
mc_rtc::log::warning("[mc_mujoco] {}::SetPDGains failed. p_vec size({})!=ref_joint_order size({})",
r.name, p_vec.size(), rjo.size());
return false;
}
if(d_vec.size() != rjo.size())
{
mc_rtc::log::warning("[mc_mujoco] {}::SetPDGains failed. d_vec size({})!=ref_joint_order size({})",
r.name, d_vec.size(), rjo.size());
return false;
}
r.kp = p_vec;
r.kd = d_vec;
return true;
});
// make_call for setting pd gains (by name)
ds.make_call(r.name + "::SetPDGainsByName",
[this, &r](const std::string & jn, double p, double d)
{
const auto & rjo = controller->robots().robot(r.name).module().ref_joint_order();
auto rjo_it = std::find(rjo.begin(), rjo.end(), jn);
if(rjo_it == rjo.end())
{
mc_rtc::log::warning(
"[mc_mujoco] {}::SetPDGainsByName failed. Joint {} not found in ref_joint_order.", r.name, jn);
return false;
}
int rjo_idx = std::distance(rjo.begin(), rjo_it);
r.kp[rjo_idx] = p;
r.kd[rjo_idx] = d;
return true;
});
// make_call for reading pd gains (for all joints)
ds.make_call(r.name + "::GetPDGains",
[this, &r](std::vector<double> & p_vec, std::vector<double> & d_vec)
{
p_vec.resize(0);
d_vec.resize(0);
p_vec = r.kp;
d_vec = r.kd;
const auto & rjo = controller->robots().robot(r.name).module().ref_joint_order();
if(p_vec.size() != rjo.size())
{
mc_rtc::log::warning("[mc_mujoco] {}::GetPDGains failed. p_vec size({})!=ref_joint_order size({})",
r.name, p_vec.size(), rjo.size());
return false;
}
if(d_vec.size() != rjo.size())
{
mc_rtc::log::warning("[mc_mujoco] {}::GetPDGains failed. d_vec size({})!=ref_joint_order size({})",
r.name, d_vec.size(), rjo.size());
return false;
}
return true;
});
// make_call for reading pd gains (by name)
ds.make_call(r.name + "::GetPDGainsByName",
[this, &r](const std::string & jn, double & p, double & d)
{
const auto & rjo = controller->robots().robot(r.name).module().ref_joint_order();
auto rjo_it = std::find(rjo.begin(), rjo.end(), jn);
if(rjo_it == rjo.end())
{
mc_rtc::log::warning(
"[mc_mujoco] {}::GetPDGainsByName failed. Joint {} not found in ref_joint_order.", r.name, jn);
return false;
}
int rjo_idx = std::distance(rjo.begin(), rjo_it);
p = r.kp[rjo_idx];
d = r.kd[rjo_idx];
return true;
});
}
}
void MjSimImpl::startSimulation()
{
if(!config.with_controller)
{
setSimulationInitialState();
controller.reset();
return;
}
makeDatastoreCalls();
// get sim timestep and set the frameskip parameter
double simTimestep = model->opt.timestep;
frameskip_ = std::round(controller->timestep() / simTimestep);
mc_rtc::log::info("[mc_mujoco] MC-RTC timestep: {}. MJ timestep: {}", controller->timestep(), simTimestep);
mc_rtc::log::info("[mc_mujoco] Hence, Frameskip: {}", frameskip_);
for(auto & r : robots)
{
r.initialize(model, controller->robot(r.name));
controller->setEncoderValues(r.name, r.encoders);
}
for(const auto & r : robots)
{
init_qs_[r.name] = controller->robot(r.name).encoderValues();
init_pos_[r.name] = controller->controller().robot(r.name).posW();
}
controller->init(init_qs_, init_pos_);
controller->running = true;
setSimulationInitialState();
}
void MjRobot::updateSensors(mc_control::MCGlobalController * gc, mjModel * model, mjData * data)
{
for(size_t i = 0; i < mj_jnt_ids.size(); ++i)
{
if(mj_jnt_to_rjo[i] == -1)
{
continue;
}
encoders[mj_jnt_to_rjo[i]] = data->qpos[model->jnt_qposadr[mj_jnt_ids[i]]];
alphas[mj_jnt_to_rjo[i]] = data->qvel[model->jnt_dofadr[mj_jnt_ids[i]]];
}
for(size_t i = 0; i < mj_mot_ids.size(); ++i)
{
if(mj_jnt_to_rjo[i] == -1)
{
continue;
}
torques[mj_jnt_to_rjo[i]] = data->qfrc_actuator[model->jnt_dofadr[mj_jnt_ids[i]]];
}
if(!gc)
{
return;
}
auto & robot = gc->controller().robots().robot(name);
// Body sensor updates
if(root_qpos_idx != -1)
{
root_pos = Eigen::Map<Eigen::Vector3d>(&data->qpos[root_qpos_idx]);
root_ori.w() = data->qpos[root_qpos_idx + 3];
root_ori.x() = data->qpos[root_qpos_idx + 4];
root_ori.y() = data->qpos[root_qpos_idx + 5];
root_ori.z() = data->qpos[root_qpos_idx + 6];
root_ori = root_ori.inverse();
root_linvel = Eigen::Map<Eigen::Vector3d>(&data->qvel[root_qvel_idx]);
root_angvel = Eigen::Map<Eigen::Vector3d>(&data->qvel[root_qvel_idx + 3]);
root_linacc = Eigen::Map<Eigen::Vector3d>(&data->qacc[root_qvel_idx]);
root_angacc = Eigen::Map<Eigen::Vector3d>(&data->qacc[root_qvel_idx + 3]);
if(robot.hasBodySensor("FloatingBase"))
{
gc->setSensorPositions(name, {{"FloatingBase", root_pos}});
gc->setSensorOrientations(name, {{"FloatingBase", root_ori}});
gc->setSensorLinearVelocities(name, {{"FloatingBase", root_linvel}});
gc->setSensorAngularVelocities(name, {{"FloatingBase", root_angvel}});
gc->setSensorLinearAccelerations(name, {{"FloatingBase", root_linacc}});
// FIXME Not implemented in mc_rtc
// gc->setSensorAngularAccelerations(name, {{"FloatingBase", root_angacc}});
}
}
// Gyro update
for(auto & gyro : gyros)
{
mujoco_get_sensordata(*model, *data, mc_bs_to_mj_gyro_id[gyro.first], gyro.second.data());
}
gc->setSensorAngularVelocities(name, gyros);
// Accelerometers update
for(auto & accelerometer : accelerometers)
{
mujoco_get_sensordata(*model, *data, mc_bs_to_mj_accelerometer_id[accelerometer.first],
accelerometer.second.data());
}
gc->setSensorLinearAccelerations(name, accelerometers);
// Force sensor update
for(auto & fs : wrenches)
{
mujoco_get_sensordata(*model, *data, mc_fs_to_mj_fsensor_id[fs.first], fs.second.force().data());
mujoco_get_sensordata(*model, *data, mc_fs_to_mj_tsensor_id[fs.first], fs.second.couple().data());
fs.second *= -1;
}
gc->setWrenches(name, wrenches);
// Joint sensor updates
gc->setEncoderValues(name, encoders);
gc->setEncoderVelocities(name, alphas);
gc->setJointTorques(name, torques);
}
void MjSimImpl::updateData()
{
for(auto & r : robots)
{
r.updateSensors(controller.get(), model, data);
}
}
void MjRobot::updateControl(const mc_rbdyn::Robot & robot)
{
mj_prev_ctrl_q = mj_next_ctrl_q;
mj_prev_ctrl_alpha = mj_next_ctrl_alpha;
mj_prev_ctrl_jointTorque = mj_next_ctrl_jointTorque;
size_t ctrl_idx = 0;
for(size_t i = 0; i < mj_to_mbc.size(); ++i)
{
auto jIndex = mj_to_mbc[i];
if(jIndex != -1)
{
mj_next_ctrl_q[ctrl_idx] = robot.mbc().q[jIndex][0];
mj_next_ctrl_alpha[ctrl_idx] = robot.mbc().alpha[jIndex][0];
mj_next_ctrl_jointTorque[ctrl_idx] = robot.mbc().jointTorque[jIndex][0];
ctrl_idx++;
}
}
}
void MjRobot::sendControl(const mjModel & model,
mjData & data,
size_t interp_idx,
size_t frameskip_,
bool torque_control)
{
for(size_t i = 0; i < mj_ctrl.size(); ++i)
{
auto mot_id = mj_mot_ids[i];
auto pos_act_id = mj_pos_act_ids[i];
auto vel_act_id = mj_vel_act_ids[i];
auto rjo_id = mj_jnt_to_rjo[i];
if(rjo_id == -1)
{
continue;
}
// compute desired q using interpolation
double q_ref = (interp_idx + 1) * (mj_next_ctrl_q[i] - mj_prev_ctrl_q[i]) / frameskip_;
q_ref += mj_prev_ctrl_q[i];
// compute desired alpha using interpolation
double alpha_ref = (interp_idx + 1) * (mj_next_ctrl_alpha[i] - mj_prev_ctrl_alpha[i]) / frameskip_;
alpha_ref += mj_prev_ctrl_alpha[i];
// compute desired jointTorque using interpolation
double torque_ref = (interp_idx + 1) * (mj_next_ctrl_jointTorque[i] - mj_prev_ctrl_jointTorque[i]) / frameskip_;
torque_ref += mj_prev_ctrl_jointTorque[i];
if(mot_id != -1)
{
if(torque_control && torque_ref != 0)
{
mj_ctrl[i] = torque_ref;
}
else
{
mj_ctrl[i] = PD(i, q_ref, encoders[rjo_id], alpha_ref, alphas[rjo_id]);
}
double ratio = model.actuator_gear[6 * mot_id];
data.ctrl[mot_id] = mj_ctrl[i] / ratio;
}
if(pos_act_id != -1)
{
data.ctrl[pos_act_id] = q_ref;
}
if(vel_act_id != -1)
{
data.ctrl[vel_act_id] = alpha_ref;
}
}
}
bool MjSimImpl::controlStep()
{
auto interp_idx = iterCount_ % frameskip_;
// After every frameskip iters
if(config.with_controller && interp_idx == 0)
{
// run the controller
if(!controller->run())
{
return true;
}
for(auto & r : robots)
{
r.updateControl(controller->robots().robot(r.name));
}
}
// On each control iter
for(auto & r : robots)
{
r.sendControl(*model, *data, interp_idx, frameskip_, config.torque_control);
}
iterCount_++;
return false;
}
void MjSimImpl::simStep()
{
// clear old perturbations, apply new
mju_zero(data->xfrc_applied, 6 * model->nbody);
mjv_applyPerturbPose(model, data, &pert, 0); // move mocap bodies only
mjv_applyPerturbForce(model, data, &pert);
// take one step in simulation
// model.opt.timestep will be used here
mj_step(model, data);
wallclock = data->time;
}
void MjSimImpl::resetSimulation(const std::map<std::string, std::vector<double>> & reset_qs,
const std::map<std::string, sva::PTransformd> & reset_pos)
{
iterCount_ = 0;
reset_simulation_ = false;
if(controller)
{
controller->reset(reset_qs, reset_pos);
for(auto & robot : robots)
{
robot.reset(controller->robot(robot.name));
}
controller->running = true;
}
mj_resetData(model, data);
setSimulationInitialState();
makeDatastoreCalls();
for(auto & marker : markers)
{
marker.marker.pose(getObjectPosW(marker.name));
}
}
bool MjSimImpl::stepSimulation()
{
if(reset_simulation_)
{
resetSimulation(init_qs_, init_pos_);
}
auto start_step = clock::now();
// Only run the GUI update if the simulation is paused
if(config.step_by_step && rem_steps == 0)
{
mj_kinematics(model, data);
if(controller)
{
controller->running = false;
controller->run();
controller->running = true;
}
mj_sim_start_t = start_step;
std::this_thread::sleep_for(std::chrono::milliseconds(10));
return false;
}
if(iterCount_ > 0)
{
duration_us dt = start_step - mj_sim_start_t;
mj_sync_delay += duration_us(1e6 * model->opt.timestep) - dt;
mj_sim_dt[(iterCount_ - 1) % mj_sim_dt.size()] = dt.count();
}
mj_sim_start_t = start_step;
auto do_step = [this, &start_step]()
{
{
std::lock_guard<std::mutex> lock(rendering_mutex_);
simStep();
}
updateData();
return controlStep();
};
bool done = false;
if(!config.step_by_step)
{
done = do_step();
}
if(config.step_by_step && rem_steps > 0)
{
// Doing 'frameskip_' steps of sim + control
// (But controller.run() will execute only when interp_idx == 0)
for(size_t i = 0; i < frameskip_; i++)
{
done = do_step() && done;
}
rem_steps--;
}
if(config.sync_real_time)
{
std::this_thread::sleep_until(start_step + duration_us(1e6 * model->opt.timestep) + mj_sync_delay);
}
return done;
}
void MjSimImpl::updateScene()
{
// update scene and render
std::lock_guard<std::mutex> lock(rendering_mutex_);
mjv_updateScene(model, data, &options, &pert, &camera, mjCAT_ALL, &scene);
if(client)
{
client->updateScene(scene);
}
// process pending GUI events, call GLFW callbacks
glfwPollEvents();
}
bool MjSimImpl::render()
{
if(!config.with_visualization)
{
return true;
}
// mj render
#ifdef USE_UI_ADAPTER
mjr_render(platform_ui_adapter->state().rect[0], &scene, &platform_ui_adapter->mjr_context());
#else
mjr_render(uistate.rect[0], &scene, &context);
#endif
// Render ImGui
ImGui_ImplOpenGL3_NewFrame();
ImGui_ImplGlfw_NewFrame();
ImGui::NewFrame();
ImGuizmo::BeginFrame();
ImGuiIO & io = ImGui::GetIO();
ImGuizmo::AllowAxisFlip(false);
ImGuizmo::SetRect(0, 0, io.DisplaySize.x, io.DisplaySize.y);
if(client)
{
client->update();
#ifdef USE_UI_ADAPTER
client->draw2D(*platform_ui_adapter);
#else
client->draw2D(window);
#endif
client->draw3D();
for(auto & [name, marker] : markers)
{
if(marker.draw(client->view(), client->projection()) || marker.active())
{
setObjectPosW(name, marker.pose());
}
}
}
{
auto right_margin = 5.0f;
auto top_margin = 5.0f;
auto width = io.DisplaySize.x - 2 * right_margin;
auto height = io.DisplaySize.y - 2 * top_margin;
ImGui::SetNextWindowPos({0.8f * width - right_margin, top_margin}, ImGuiCond_FirstUseEver);
ImGui::SetNextWindowSize({0.2f * width, 0.3f * height}, ImGuiCond_FirstUseEver);
#if mjVERSION_HEADER <= 210
ImGui::Begin(fmt::format("mc_mujoco (MuJoCo {})", mj_version()).c_str());
#else
ImGui::Begin(fmt::format("mc_mujoco (MuJoCo {})", mj_versionString()).c_str());
#endif
size_t nsamples = std::min(mj_sim_dt.size(), iterCount_);
mj_sim_dt_average = 0;
for(size_t i = 0; i < nsamples; ++i)
{
mj_sim_dt_average += mj_sim_dt[i] / nsamples;
}
ImGui::Text("Average sim time: %.2fμs", mj_sim_dt_average);
ImGui::Text("Simulation/Real time: %.2f", mj_sim_dt_average / (1e6 * model->opt.timestep));
ImGui::Text("Wallclock time: %.2fs", wallclock);
if(ImGui::Checkbox("Sync with real-time", &config.sync_real_time))
{
if(config.sync_real_time)
{
mj_sync_delay = duration_us(0);
}
}
ImGui::Checkbox("Step-by-step", &config.step_by_step);
if(config.step_by_step)
{
auto doNStepsButton = [&](size_t n, bool final_)
{
size_t n_ms = std::ceil(n * 1000 * (controller ? controller->timestep() : model->opt.timestep));
if(ImGui::Button(fmt::format("+{}ms", n_ms).c_str()))
{
rem_steps = n;