Implement threading for island constraint solving.
Humanoids22 No threads: Benchmark Execution Time: 9.475905812s Humanoids22 with 10 Threads: Benchmark Execution Time: 4.871352s PiperOrigin-RevId: 571214307 Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
This commit is contained in:
Matthew Bennice
committed by
Copybara-Service
Copybara-Service
parent
06670155c4
commit
071af3b015
+2278
File diff suppressed because it is too large
Load Diff
+913
@@ -0,0 +1,913 @@
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<!-- Copyright 2023 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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||||
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http://www.apache.org/licenses/LICENSE-2.0
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||||
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||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
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||||
limitations under the License.
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||||
-->
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||||
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<mujoco model="Humanoid and 200 objects">
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<!-- Degree of Freedom: 627
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Actuators: 21
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|
||||
<body pos="2 0 3" quat="0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 4" quat="0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 5" quat="0.816497 0 0.408248 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 6" quat="0.666667 0 0.666667 0.333333">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 7" quat="0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 8" quat="0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
<body pos="2 1 1" quat="0.755929 0.377964 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 2" quat="0.632456 0.316228 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 3" quat="0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 4" quat="0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 5" quat="0.755929 0.377964 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 6" quat="0.632456 0.316228 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 7" quat="0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 8" quat="0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
<body pos="2 2 1" quat="0.632456 0.632456 0.316228 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 2" quat="0.5547 0.5547 0.5547 0.27735">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 3" quat="0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 4" quat="0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 5" quat="0.632456 0.632456 0.316228 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 6" quat="0.5547 0.5547 0.5547 0.27735">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 7" quat="0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 8" quat="0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
+158
@@ -0,0 +1,158 @@
|
||||
<!-- Copyright 2023 DeepMind Technologies Limited
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
-->
|
||||
|
||||
<mujoco model="Humanoid body">
|
||||
<!-- Degree of Freedom: 27
|
||||
Actuators: 21
|
||||
|
||||
This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
|
||||
behaviours. While several variants of it exist in the wild, this version is based on the model
|
||||
in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
|
||||
[1] Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization.
|
||||
https://doi.org/10.1109/IROS.2012.6386025
|
||||
[2] DeepMind Control Suite, Tassa et al. https://arxiv.org/abs/1801.00690
|
||||
-->
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<default class="body">
|
||||
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.5" childclass="body">
|
||||
<light name="top" pos="0 0 2" mode="trackcom"/>
|
||||
<camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="root"/>
|
||||
<geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="head" pos="0 0 .19">
|
||||
<geom name="head" type="sphere" size=".09"/>
|
||||
<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="pelvis" pos="0 0 -.165">
|
||||
<joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="right_shin" pos="0 .01 -.403">
|
||||
<joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="right_foot" pos="0 0 -.39">
|
||||
<joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 .1 -.04">
|
||||
<joint name="left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="left_shin" pos="0 -.01 -.403">
|
||||
<joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="left_foot" pos="0 0 -.39">
|
||||
<joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="right_hand" pos=".18 .18 .18">
|
||||
<geom name="right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="left_hand" pos=".18 -.18 .18">
|
||||
<geom name="left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="abdomen_y" gear="40" joint="abdomen_y"/>
|
||||
<motor name="abdomen_z" gear="40" joint="abdomen_z"/>
|
||||
<motor name="abdomen_x" gear="40" joint="abdomen_x"/>
|
||||
<motor name="right_hip_x" gear="40" joint="right_hip_x"/>
|
||||
<motor name="right_hip_z" gear="40" joint="right_hip_z"/>
|
||||
<motor name="right_hip_y" gear="120" joint="right_hip_y"/>
|
||||
<motor name="right_knee" gear="80" joint="right_knee"/>
|
||||
<motor name="right_ankle_x" gear="20" joint="right_ankle_x"/>
|
||||
<motor name="right_ankle_y" gear="20" joint="right_ankle_y"/>
|
||||
<motor name="left_hip_x" gear="40" joint="left_hip_x"/>
|
||||
<motor name="left_hip_z" gear="40" joint="left_hip_z"/>
|
||||
<motor name="left_hip_y" gear="120" joint="left_hip_y"/>
|
||||
<motor name="left_knee" gear="80" joint="left_knee"/>
|
||||
<motor name="left_ankle_x" gear="20" joint="left_ankle_x"/>
|
||||
<motor name="left_ankle_y" gear="20" joint="left_ankle_y"/>
|
||||
<motor name="right_shoulder1" gear="20" joint="right_shoulder1"/>
|
||||
<motor name="right_shoulder2" gear="20" joint="right_shoulder2"/>
|
||||
<motor name="right_elbow" gear="40" joint="right_elbow"/>
|
||||
<motor name="left_shoulder1" gear="20" joint="left_shoulder1"/>
|
||||
<motor name="left_shoulder2" gear="20" joint="left_shoulder2"/>
|
||||
<motor name="left_elbow" gear="40" joint="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user