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Add constraint island discovery

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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
This commit is contained in:
Yuval Tassa
2023-08-15 02:29:26 -07:00
committed by Copybara-Service
parent e4dddea42a
commit 3e034e38b2
40 changed files with 1557 additions and 468 deletions
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doc/APIreference/functions.rst
+9
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@@ -840,6 +840,15 @@ mj_makeConstraint
Construct constraints.
.. _mj_island:
mj_island
~~~~~~~~~
.. mujoco-include:: mj_island
Find constraint islands.
.. _mj_projectConstraint:
mj_projectConstraint
doc/XMLreference.rst
+12 -5
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@@ -2070,6 +2070,12 @@ from its default.
This flag disables all computations related to sensors. When disabled, sensor values will remain constant, either
zeros if disabled at the start of simulation, or, if disabled at runtime, whatever value was last computed.
.. _option-flag-midphase:
:at:`midphase`: :at-val:`[disable, enable], "enable"`
This flag disables the mid-phase collision filtering using a static AABB bounding volume hierarchy (a BVH binary
tree). If disabled, all geoms pairs that are allowed to collide are checked for collisions.
.. _option-flag-override:
:at:`override`: :at-val:`[disable, enable], "disable"`
@@ -2108,12 +2114,13 @@ from its default.
function. If a new contact is detected it is added, allowing for up to 4 additional contact points. This feature is
currently considered experimental, and both the behavior and the way it is activated may change in the future.
.. _option-flag-midphase:
:at:`midphase`: :at-val:`[disable, enable], "enable"`
This flag disables the mid-phase collision filtering using a static AABB bounding volume hierarchy (a BVH binary
tree). If disabled, all geoms pairs that are allowed to collide are checked for collisions.
.. _option-flag-island:
:at:`island`: :at-val:`[disable, enable], "disable"`
This flag enables discovery of constraint islands: disjoint sets of constraints and
degrees-of-freedom that do not interact. The flag currently has no effect on the physics pipeline, but enabling it
allows for `island visualization <https://youtu.be/Vc1tq0fFvQA>`__.
In a future release, the constraint solver will exploit the disjoint nature of constraint islands.
.. _body:
doc/XMLschema.rst
+1 -1
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@@ -227,7 +227,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`override<option-flag-override>` | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | | | |
| | | | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
doc/changelog.rst
+13 -3
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@@ -8,7 +8,16 @@ Upcoming version (not yet released)
General
^^^^^^^
1. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
.. youtube:: Vc1tq0fFvQA
:align: right
:width: 240px
1. Added constraint island discovery in :ref:`mj_island`. Constraint islands are disjoint sets of constraints
and degrees-of-freedom that do not interact. In a future release the constraint solver will be refactored to
exploit the disjoint structure. Island discovery can be activated using a new :ref:`enable flag<option-flag-island>`
which will be removed after the refactor. If island discovery is enabled, geoms, contacts and
tendons will be colored according to the corresponding island, see video:
#. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
the exact formula rather than with Euler integration.
#. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
@@ -19,8 +28,9 @@ General
Python bindings
^^^^^^^^^^^^^^^
3. Fixed issue where calling ``update_scene`` with invalid camera name uses the default camera.
(`#870 <https://github.com/deepmind/mujoco/issues/870>`_)
4. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Version 2.3.7 (July 20, 2023)
-----------------------------
doc/includes/references.h
+23 -3
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@@ -162,6 +162,7 @@ struct mjData_ {
int nefc; // number of constraints
int nnzJ; // number of non-zeros in constraint Jacobian
int ncon; // number of detected contacts
int nisland; // number of detected constraint islands
// global properties
mjtNum time; // simulation time
@@ -342,6 +343,14 @@ struct mjData_ {
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
// computed by mj_island
int* island_dofadr; // address of first dof in island (nisland x 1)
int* island_efcadr; // address of first constraint in island (nisland x 1)
int* dof_island; // island id of this dof; -1: none (nv x 1)
int* dof_islandnext; // address of next dof in island; -1: last or none (nv x 1)
int* efc_island; // island id of this constraint (nefc x 1)
int* efc_islandnext; // address of next constraint in island; -1: last (nefc x 1)
// computed by mj_projectConstraint (dual solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
@@ -387,8 +396,9 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data
// experimental features:
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
mjENBL_ISLAND = 1<<5, // constraint island discovery
mjNENABLE = 5 // number of enable flags
mjNENABLE = 6 // number of enable flags
} mjtEnableBit;
typedef enum mjtJoint_ { // type of degree of freedom
mjJNT_FREE = 0, // global position and orientation (quat) (7)
@@ -802,7 +812,7 @@ struct mjModel_ {
int nu; // number of actuators/controls = dim(ctrl)
int na; // number of activation states = dim(act)
int nbody; // number of bodies
int nbvh; // number of total bounding volumes in all bodies
int nbvh; // number of bounding volumes in all bodies
int njnt; // number of joints
int ngeom; // number of geoms
int nsite; // number of sites
@@ -856,13 +866,14 @@ struct mjModel_ {
int nM; // number of non-zeros in sparse inertia matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int nB; // number of non-zeros in sparse body-dof matrix
int ntree; // number of kinematic trees under world body
int nemax; // number of potential equality-constraint rows
int njmax; // number of available rows in constraint Jacobian
int nconmax; // number of potential contacts in contact list
int nstack; // number of fields in mjData stack
int nuserdata; // number of extra fields in mjData
int nsensordata; // number of fields in sensor data vector
int npluginstate; // number of fields in the plugin state vector
int npluginstate; // number of fields in plugin state vector
int nbuffer; // number of bytes in buffer
@@ -890,6 +901,7 @@ struct mjModel_ {
int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
int* body_dofnum; // number of motion degrees of freedom (nbody x 1)
int* body_dofadr; // start addr of dofs; -1: no dofs (nbody x 1)
int* body_treeid; // id of body's kinematic tree; -1: static (nbody x 1)
int* body_geomnum; // number of geoms (nbody x 1)
int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
mjtByte* body_simple; // body is simple (has diagonal M) (nbody x 1)
@@ -936,6 +948,7 @@ struct mjModel_ {
int* dof_bodyid; // id of dof's body (nv x 1)
int* dof_jntid; // id of dof's joint (nv x 1)
int* dof_parentid; // id of dof's parent; -1: none (nv x 1)
int* dof_treeid; // id of dof's kinematic tree (nv x 1)
int* dof_Madr; // dof address in M-diagonal (nv x 1)
int* dof_simplenum; // number of consecutive simple dofs (nv x 1)
mjtNum* dof_solref; // constraint solver reference:frictionloss (nv x mjNREF)
@@ -1663,6 +1676,7 @@ typedef enum mjtLabel_ { // object labeling
mjLABEL_SELPNT, // coordinates of selection point
mjLABEL_CONTACTPOINT, // contact information
mjLABEL_CONTACTFORCE, // magnitude of contact force
mjLABEL_ISLAND, // id of island
mjNLABEL // number of label types
} mjtLabel;
@@ -1694,6 +1708,7 @@ typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_PERTFORCE, // perturbation force
mjVIS_PERTOBJ, // perturbation object
mjVIS_CONTACTPOINT, // contact points
mjVIS_ISLAND, // constraint islands
mjVIS_CONTACTFORCE, // contact force
mjVIS_CONTACTSPLIT, // split contact force into normal and tangent
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
@@ -2080,6 +2095,7 @@ struct mjvSceneState_ {
int nefc;
int ncon;
int nisland;
mjtNum time;
@@ -2114,6 +2130,9 @@ struct mjvSceneState_ {
mjtNum* wrap_xpos;
mjtByte* bvh_active;
int* island_dofadr;
int* dof_island;
int* efc_island;
mjContact* contact;
mjtNum* efc_force;
@@ -2204,6 +2223,7 @@ void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
void mj_rnePostConstraint(const mjModel* m, mjData* d);
void mj_collision(const mjModel* m, mjData* d);
void mj_makeConstraint(const mjModel* m, mjData* d);
void mj_island(const mjModel* m, mjData* d);
void mj_projectConstraint(const mjModel* m, mjData* d);
void mj_referenceConstraint(const mjModel* m, mjData* d);
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,