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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/bindings_test.py
+1 -1
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@@ -829,7 +829,7 @@ Euler integrator, semi-implicit in velocity.
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, 100)
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW1, 101)
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW2, 102)
self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 106)
self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 107)
self.assertEqual(mujoco.mjtGeom.mjGEOM_NONE, 1001)
def test_enum_from_int(self):
python/mujoco/functions.cc
+2
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@@ -199,6 +199,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_kinematics>(pymodule);
Def<traits::mj_comPos>(pymodule);
Def<traits::mj_camlight>(pymodule);
Def<traits::mj_flex>(pymodule);
Def<traits::mj_tendon>(pymodule);
Def<traits::mj_transmission>(pymodule);
Def<traits::mj_crb>(pymodule);
@@ -581,6 +582,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_rayHfield>(pymodule);
Def<traits::mj_rayMesh>(pymodule);
Def<traits::mju_rayGeom>(pymodule);
Def<traits::mju_rayFlex>(pymodule);
Def<traits::mju_raySkin>(pymodule);
// Interaction
python/mujoco/structs.cc
+109 -2
View File
@@ -490,7 +490,11 @@ MjContactWrapper::MjWrapper()
X(solref),
X(solreffriction),
X(solimp),
X(H) {}
X(H),
X(geom),
X(flex),
X(elem),
X(vert) {}
MjContactWrapper::MjWrapper(raw::MjContact* ptr, py::handle owner)
: WrapperBase(ptr, owner),
@@ -500,7 +504,11 @@ MjContactWrapper::MjWrapper(raw::MjContact* ptr, py::handle owner)
X(solref),
X(solreffriction),
X(solimp),
X(H) {}
X(H),
X(geom),
X(flex),
X(elem),
X(vert) {}
#undef X
MjContactWrapper::MjWrapper(const MjContactWrapper& other)
@@ -1110,6 +1118,7 @@ MjvOptionWrapper::MjWrapper()
X(jointgroup),
X(tendongroup),
X(actuatorgroup),
X(flexgroup),
X(skingroup),
X(flags) {}
#undef X
@@ -1141,6 +1150,18 @@ MjvSceneWrapper::MjWrapper()
nskinvert(0),
XN(geoms, 0),
XN(geomorder, 0),
XN(flexedgeadr, 0),
XN(flexedgenum, 0),
XN(flexvertadr, 0),
XN(flexvertnum, 0),
XN(flexfaceadr, 0),
XN(flexfacenum, 0),
XN(flexfaceused, 0),
XN(flexedge, 0),
XN(flexvert, 0),
XN(flexface, 0),
XN(flexnormal, 0),
XN(flextexcoord, 0),
XN(skinfacenum, 0),
XN(skinvertadr, 0),
XN(skinvertnum, 0),
@@ -1170,8 +1191,54 @@ MjvSceneWrapper::MjWrapper(const MjModelWrapper& model, int maxgeom)
}
return nskinvert;
}(model.get())),
nflexface([](const raw::MjModel* m) {
int nflexface = 0;
int flexfacenum = 0;
for (int f=0; f < m->nflex; f++) {
if (m->flex_dim[f] == 0) {
// 1D : 0
flexfacenum = 0;
} else if (m->flex_dim[f] == 2) {
// 2D: 2*fragments + 2*elements
flexfacenum = 2*m->flex_shellnum[f] + 2*m->flex_elemnum[f];
} else {
// 3D: max(fragments, 4*maxlayer)
// find number of elements in biggest layer
int maxlayer = 0, layer = 0, nlayer = 1;
while (nlayer) {
nlayer = 0;
for (int e=0; e < m->flex_elemnum[f]; e++) {
if (m->flex_elemlayer[m->flex_elemadr[f]+e] == layer) {
nlayer++;
}
}
maxlayer = mjMAX(maxlayer, nlayer);
layer++;
}
flexfacenum = mjMAX(m->flex_shellnum[f], 4*maxlayer);
}
// accumulate over flexes
nflexface += flexfacenum;
}
return nflexface;
}(model.get())),
nflexedge(model.get()->nflexedge),
nflexvert(model.get()->nflexvert),
XN(geoms, ptr_->maxgeom),
XN(geomorder, ptr_->maxgeom),
XN(flexedgeadr, ptr_->nflex),
XN(flexedgenum, ptr_->nflex),
XN(flexvertadr, ptr_->nflex),
XN(flexvertnum, ptr_->nflex),
XN(flexfaceadr, ptr_->nflex),
XN(flexfacenum, ptr_->nflex),
XN(flexfaceused, ptr_->nflex),
XN(flexedge, 2*nflexedge),
XN(flexvert, 3*nflexvert),
XN(flexface, 9*nflexface),
XN(flexnormal, 9*nflexface),
XN(flextexcoord, 6*nflexface),
XN(skinfacenum, ptr_->nskin),
XN(skinvertadr, ptr_->nskin),
XN(skinvertnum, ptr_->nskin),
@@ -1208,6 +1275,18 @@ MjvSceneWrapper::MjWrapper(const MjvSceneWrapper& other)
XN(geoms, ptr_->ngeom);
XN(geomorder, ptr_->ngeom);
XN(flexedgeadr, ptr_->nflex);
XN(flexedgenum, ptr_->nflex);
XN(flexvertadr, ptr_->nflex);
XN(flexvertnum, ptr_->nflex);
XN(flexfaceadr, ptr_->nflex);
XN(flexfacenum, ptr_->nflex);
XN(flexfaceused, ptr_->nflex);
XN(flexedge, 2*nflexedge);
XN(flexvert, 3*nflexvert);
XN(flexface, 9*nflexface);
XN(flexnormal, 9*nflexface);
XN(flextexcoord, 6*nflexface);
XN(skinfacenum, ptr_->nskin);
XN(skinvertadr, ptr_->nskin);
XN(skinvertnum, ptr_->nskin);
@@ -1756,6 +1835,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(solreffriction);
X(solimp);
X(H);
X(geom);
X(flex);
X(elem);
X(vert);
#undef X
py::class_<MjContactList> mjContactList(m, "_MjContactList");
@@ -1794,6 +1877,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(int, geom2);
X(int, exclude);
X(int, efc_address);
XN(int, geom);
XN(int, flex);
XN(int, elem);
XN(int, vert);
#undef X
#undef XN
@@ -1985,6 +2072,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
c.get()->var = rhs; \
})
X(select);
X(flexselect);
X(skinselect);
X(active);
X(active2);
@@ -2154,6 +2242,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(label);
X(frame);
X(bvh_depth);
X(flex_layer);
#undef X
#define X(var) DefinePyArray(mjvOption, #var, &MjvOptionWrapper::var)
@@ -2162,6 +2251,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(jointgroup);
X(tendongroup);
X(actuatorgroup);
X(flexgroup);
X(skingroup);
X(flags);
#undef X
@@ -2185,8 +2275,13 @@ This is useful for example when the MJB is not available as a file on disk.)"));
})
X(maxgeom);
X(ngeom);
X(nflex);
X(nskin);
X(nlight);
X(flexvertopt);
X(flexedgeopt);
X(flexfaceopt);
X(flexskinopt);
X(enabletransform);
X(scale);
X(stereo);
@@ -2196,6 +2291,18 @@ This is useful for example when the MJB is not available as a file on disk.)"));
#define X(var) DefinePyArray(mjvScene, #var, &MjvSceneWrapper::var)
X(geoms);
X(geomorder);
X(flexedgeadr);
X(flexedgenum);
X(flexvertadr);
X(flexvertnum);
X(flexfaceadr);
X(flexfacenum);
X(flexfaceused);
X(flexedge);
X(flexvert);
X(flexface);
X(flexnormal);
X(flextexcoord);
X(skinfacenum);
X(skinvertadr);
X(skinvertnum);
python/mujoco/structs.h
+18
View File
@@ -508,6 +508,10 @@ class MjWrapper<raw::MjContact> : public WrapperBase<raw::MjContact> {
X(solreffriction);
X(solimp);
X(H);
X(geom);
X(flex);
X(elem);
X(vert);
#undef X
};
@@ -733,6 +737,7 @@ class MjWrapper<raw::MjvOption> : public WrapperBase<raw::MjvOption> {
X(jointgroup);
X(tendongroup);
X(actuatorgroup);
X(flexgroup);
X(skingroup);
X(flags);
#undef X
@@ -754,10 +759,23 @@ class MjWrapper<raw::MjvScene> : public WrapperBase<raw::MjvScene> {
~MjWrapper() = default;
int nskinvert;
int nflexface, nflexedge, nflexvert;
#define X(dtype, var) py_array_or_tuple_t<dtype> var
X(mjvGeom, geoms);
X(int, geomorder);
X(int, flexedgeadr);
X(int, flexedgenum);
X(int, flexvertadr);
X(int, flexvertnum);
X(int, flexfaceadr);
X(int, flexfacenum);
X(int, flexfaceused);
X(int, flexedge);
X(float, flexvert);
X(float, flexface);
X(float, flexnormal);
X(float, flextexcoord);
X(int, skinfacenum);
X(int, skinvertadr);
X(int, skinvertnum);