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Implement plugin mechanism for actuators and sensors.
PiperOrigin-RevId: 474874088 Change-Id: I1bbcc20439dc59de7e18327a2cdc6fad0a57201e
1 parent d05e627 commit ecdf4c8

3 files changed

Lines changed: 85 additions & 3 deletions

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‎dm_control/autowrap/codegen_util.py‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -69,9 +69,11 @@ class UniqueOrderedDict(collections.OrderedDict):
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"""Subclass of `OrderedDict` that enforces the uniqueness of keys."""
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7171
def __setitem__(self, k, v):
72-
if k in self:
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existing_v = self.get(k)
73+
if existing_v is None:
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super().__setitem__(k, v)
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elif v != existing_v:
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raise ValueError("Key '{}' already exists.".format(k))
74-
super().__setitem__(k, v)
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def macro_struct_name(name, suffix=None):

‎dm_control/mjcf/schema.xml‎

Lines changed: 74 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -783,6 +783,30 @@
783783
</element>
784784
</children>
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</element>
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<element name="extension">
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<children>
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<element name="required" repeated="true" namespace="plugin">
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<attributes>
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<attribute name="plugin" type="identifier" required="true"/>
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</attributes>
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<children>
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<element name="instance" repeated="true" namespace="plugin_instance">
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<attributes>
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<attribute name="name" type="identifier" required="true"/>
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</attributes>
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<children>
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<element name="config" repeated="true">
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<attributes>
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<attribute name="key" type="string"/>
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<attribute name="value" type="string"/>
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</attributes>
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</element>
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</children>
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</element>
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</children>
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</element>
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</children>
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</element>
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<element name="custom">
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<children>
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<element name="numeric" repeated="true">
@@ -1729,6 +1753,37 @@
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<attribute name="gain" type="float"/>
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</attributes>
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</element>
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<element name="plugin" repeated="true" namespace="actuator">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="class" type="reference" reference_namespace="default"/>
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<attribute name="plugin" type="reference" reference_namespace="plugin"/>
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<attribute name="instance" type="reference" reference_namespace="plugin_instance"/>
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<attribute name="group" type="int"/>
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<attribute name="ctrllimited" type="keyword" valid_values="false true auto"/>
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<attribute name="forcelimited" type="keyword" valid_values="false true auto"/>
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<attribute name="ctrlrange" type="array" array_type="float" array_size="2"/>
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<attribute name="forcerange" type="array" array_type="float" array_size="2"/>
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<attribute name="lengthrange" type="array" array_type="float" array_size="2"/>
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<attribute name="gear" type="array" array_type="float" array_size="6"/>
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<attribute name="cranklength" type="float"/>
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<attribute name="joint" type="reference"/>
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<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
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<attribute name="site" type="reference"/>
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<attribute name="tendon" type="reference"/>
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<attribute name="cranksite" type="reference" reference_namespace="site"/>
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<attribute name="slidersite" type="reference" reference_namespace="site"/>
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<attribute name="user" type="array" array_type="float"/>
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</attributes>
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<children>
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<element name="config" repeated="true">
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<attributes>
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<attribute name="key" type="string"/>
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<attribute name="value" type="string"/>
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</attributes>
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</element>
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</children>
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</element>
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</children>
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</element>
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<element name="sensor">
@@ -2084,6 +2139,25 @@
20842139
<attribute name="dim" type="int" required="true"/>
20852140
</attributes>
20862141
</element>
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<element name="plugin" repeated="true" namespace="sensor">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="plugin" type="reference" reference_namespace="plugin"/>
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<attribute name="instance" type="reference" reference_namespace="plugin_instance"/>
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<attribute name="cutoff" type="float"/>
2148+
<attribute name="objtype" type="keyword" required="true" valid_values="body joint geom site camera light mesh skin hfield texture material equality tendon actuator sensor numeric text tuple contact keyframe"/>
2149+
<attribute name="objname" type="reference" required="true" reference_namespace="attrib:objtype"/>
2150+
<attribute name="user" type="array" array_type="float"/>
2151+
</attributes>
2152+
<children>
2153+
<element name="config" repeated="true">
2154+
<attributes>
2155+
<attribute name="key" type="string"/>
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<attribute name="value" type="string"/>
2157+
</attributes>
2158+
</element>
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</children>
2160+
</element>
20872161
</children>
20882162
</element>
20892163
<element name="keyframe">

‎dm_control/mujoco/index_test.py‎

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,8 @@
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"""Tests for index."""
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18+
import collections
19+
1820
from absl.testing import absltest
1921
from absl.testing import parameterized
2022
from dm_control.mujoco import index
@@ -311,10 +313,14 @@ def testFieldIndexerDir(self):
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312314
def _iter_indexers(model, data):
313315
size_to_axis_indexer = index.make_axis_indexers(model)
316+
all_fields = collections.OrderedDict()
314317
for struct, struct_name in ((model, 'mjmodel'), (data, 'mjdata')):
315318
indexer = index.struct_indexer(struct, struct_name, size_to_axis_indexer)
316319
for field_name, field_indexer in indexer._asdict().items():
317-
yield field_name, field_indexer
320+
if field_name not in all_fields:
321+
all_fields[field_name] = field_indexer
322+
for field_name, field_indexer in all_fields.items():
323+
yield field_name, field_indexer
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320326
class AllFieldsTest(parameterized.TestCase):

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