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Added a collision midphase on geom pairs using rotated AABBs static trees.

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PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
This commit is contained in:
Alessio Quaglino
2023-03-17 02:36:38 -07:00
committed by Copybara-Service
parent 47b58f5ccb
commit 70959c1a2c
30 changed files with 2228 additions and 73 deletions
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test/engine/testdata/collision_driver/humanoid.xml
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<!-- Copyright 2021 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">
<option timestep="0.005"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
</visual>
<statistic center="0 0 0.7"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="body" type="cube" builtin="flat" mark="cross" width="127" height="1278" 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">
<!-- geoms -->
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
<default class="thigh">
<geom size=".06"/>
</default>
<default class="shin">
<geom fromto="0 0 0 0 0 -.3" size=".049"/>
</default>
<default class="foot">
<geom size=".027"/>
<default class="foot1">
<geom fromto="-.07 -.01 0 .14 -.03 0"/>
</default>
<default class="foot2">
<geom fromto="-.07 .01 0 .14 .03 0"/>
</default>
</default>
<default class="arm_upper">
<geom size=".04"/>
</default>
<default class="arm_lower">
<geom size=".031"/>
</default>
<default class="hand">
<geom type="sphere" size=".04"/>
</default>
<!-- joints -->
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
<default class="joint_big">
<joint damping="5" stiffness="10"/>
<default class="hip_x">
<joint range="-30 10"/>
</default>
<default class="hip_z">
<joint range="-60 35"/>
</default>
<default class="hip_y">
<joint axis="0 1 0" range="-150 20"/>
</default>
<default class="joint_big_stiff">
<joint stiffness="20"/>
</default>
</default>
<default class="knee">
<joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
</default>
<default class="ankle">
<joint range="-50 50"/>
<default class="ankle_y">
<joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
</default>
<default class="ankle_x">
<joint pos="0 0 .04" stiffness="3"/>
</default>
</default>
<default class="shoulder">
<joint range="-85 60"/>
</default>
<default class="elbow">
<joint range="-100 50" stiffness="0"/>
</default>
</default>
</default>
<worldbody>
<light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
<body name="torso" pos="0 0 1.282" 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="waist_upper" 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="waist_lower" pos="-.01 0 -.26">
<geom name="waist_lower" 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="joint_big_stiff"/>
<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
<body name="pelvis" pos="0 0 -.165">
<joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
<body name="thigh_right" pos="0 -.1 -.04">
<joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
<joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
<joint name="hip_y_right" class="hip_y"/>
<geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
<body name="shin_right" pos="0 .01 -.4">
<joint name="knee_right" class="knee"/>
<geom name="shin_right" class="shin"/>
<body name="foot_right" pos="0 0 -.39">
<joint name="ankle_y_right" class="ankle_y"/>
<joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
<geom name="foot1_right" class="foot1"/>
<geom name="foot2_right" class="foot2"/>
</body>
</body>
</body>
<body name="thigh_left" pos="0 .1 -.04">
<joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
<joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
<joint name="hip_y_left" class="hip_y"/>
<geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
<body name="shin_left" pos="0 -.01 -.4">
<joint name="knee_left" class="knee"/>
<geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
<body name="foot_left" pos="0 0 -.39">
<joint name="ankle_y_left" class="ankle_y"/>
<joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
<geom name="foot1_left" class="foot1"/>
<geom name="foot2_left" class="foot2"/>
</body>
</body>
</body>
</body>
</body>
<body name="upper_arm_right" pos="0 -.17 .06">
<joint name="shoulder1_right" axis="2 1 1" class="shoulder"/>
<joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
<geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
<body name="lower_arm_right" pos=".18 -.18 -.18">
<joint name="elbow_right" axis="0 -1 1" class="elbow"/>
<geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
<body name="hand_right" pos=".18 .18 .18">
<geom name="hand_right" zaxis="1 1 1" class="hand"/>
</body>
</body>
</body>
<body name="upper_arm_left" pos="0 .17 .06">
<joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
<joint name="shoulder2_left" axis="0 -1 -1" class="shoulder"/>
<geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
<body name="lower_arm_left" pos=".18 .18 -.18">
<joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
<geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
<body name="hand_left" pos=".18 -.18 .18">
<geom name="hand_left" zaxis="1 -1 1" class="hand"/>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="waist_lower" body2="thigh_right"/>
<exclude body1="waist_lower" body2="thigh_left"/>
</contact>
<tendon>
<fixed name="hamstring_right" limited="true" range="-0.3 2">
<joint joint="hip_y_right" coef=".5"/>
<joint joint="knee_right" coef="-.5"/>
</fixed>
<fixed name="hamstring_left" limited="true" range="-0.3 2">
<joint joint="hip_y_left" coef=".5"/>
<joint joint="knee_left" coef="-.5"/>
</fixed>
</tendon>
<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="hip_x_right" gear="40" joint="hip_x_right"/>
<motor name="hip_z_right" gear="40" joint="hip_z_right"/>
<motor name="hip_y_right" gear="120" joint="hip_y_right"/>
<motor name="knee_right" gear="80" joint="knee_right"/>
<motor name="ankle_x_right" gear="20" joint="ankle_x_right"/>
<motor name="ankle_y_right" gear="20" joint="ankle_y_right"/>
<motor name="hip_x_left" gear="40" joint="hip_x_left"/>
<motor name="hip_z_left" gear="40" joint="hip_z_left"/>
<motor name="hip_y_left" gear="120" joint="hip_y_left"/>
<motor name="knee_left" gear="80" joint="knee_left"/>
<motor name="ankle_x_left" gear="20" joint="ankle_x_left"/>
<motor name="ankle_y_left" gear="20" joint="ankle_y_left"/>
<motor name="shoulder1_right" gear="20" joint="shoulder1_right"/>
<motor name="shoulder2_right" gear="20" joint="shoulder2_right"/>
<motor name="elbow_right" gear="40" joint="elbow_right"/>
<motor name="shoulder1_left" gear="20" joint="shoulder1_left"/>
<motor name="shoulder2_left" gear="20" joint="shoulder2_left"/>
<motor name="elbow_left" gear="40" joint="elbow_left"/>
</actuator>
<keyframe>
<!--
The values below are split into rows for readibility:
torso position
torso orientation
spinal
right leg
left leg
arms
-->
<key name="squat" qpos="0 0 0.596
0.988015 0 0.154359 0
0 0.4 0
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
0 0 0 0 0 0"/>
<key name="stand_on_left_leg" qpos="0 0 1.21948
0.971588 -0.179973 0.135318 -0.0729076
-0.0516 -0.202 0.23
-0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-0.08 -0.01 -0.37 -0.685 -0.35 -0.09
0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
</keyframe>
</mujoco>
test/engine/testdata/collision_driver/midphase.xml
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test/engine/testdata/collision_driver/planks.xml
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<mujoco>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
<default class="plank">
<geom type="box" size=".02 .02 .4" euler="-45 0 0"/>
<default class="joist">
<geom euler="0 90 0" rgba=".5 .5 .7 1"/>
</default>
</default>
</default>
​
<statistic extent="1.5" meansize=".05"/>
​
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
</visual>
​
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
​
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
​
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
​
<body pos="-.4 -.4 .4">
<freejoint/>
<geom class="plank" pos="0 .25 0"/>
<geom class="plank" pos=".05 .25 0"/>
<geom class="plank" pos=".10 .25 0"/>
<geom class="plank" pos=".15 .25 0"/>
<geom class="plank" pos=".20 .25 0"/>
<geom class="plank" pos=".25 .25 0"/>
<geom class="plank" pos=".30 .25 0"/>
<geom class="plank" pos=".35 .25 0"/>
<geom class="plank" pos=".40 .25 0"/>
<geom class="plank" pos=".45 .25 0"/>
<geom class="plank" pos=".50 .25 0"/>
<geom class="plank" pos=".55 .25 0"/>
<geom class="plank" pos=".60 .25 0"/>
<geom class="plank" pos=".65 .25 0"/>
<geom class="plank" pos=".70 .25 0"/>
<geom class="plank" pos=".75 .25 0"/>
<geom class="plank" pos=".80 .25 0"/>
<geom class="joist" pos=".40 .09 -.2"/>
<geom class="joist" pos=".40 .49 .2"/>
</body>
​
<body pos="-.4 -.4 .5">
<freejoint/>
<geom class="plank" pos="0 .25 0"/>
<geom class="plank" pos=".05 .25 0"/>
<geom class="plank" pos=".10 .25 0"/>
<geom class="plank" pos=".15 .25 0"/>
<geom class="plank" pos=".20 .25 0"/>
<geom class="plank" pos=".25 .25 0"/>
<geom class="plank" pos=".30 .25 0"/>
<geom class="plank" pos=".35 .25 0"/>
<geom class="plank" pos=".40 .25 0"/>
<geom class="plank" pos=".45 .25 0"/>
<geom class="plank" pos=".50 .25 0"/>
<geom class="plank" pos=".55 .25 0"/>
<geom class="plank" pos=".60 .25 0"/>
<geom class="plank" pos=".65 .25 0"/>
<geom class="plank" pos=".70 .25 0"/>
<geom class="plank" pos=".75 .25 0"/>
<geom class="plank" pos=".80 .25 0"/>
<geom class="joist" pos=".40 .09 -.2"/>
<geom class="joist" pos=".40 .49 .2"/>
</body>
​
<body pos="-.4 -.4 .6">
<freejoint/>
<geom class="plank" pos="0 .25 0"/>
<geom class="plank" pos=".05 .25 0"/>
<geom class="plank" pos=".10 .25 0"/>
<geom class="plank" pos=".15 .25 0"/>
<geom class="plank" pos=".20 .25 0"/>
<geom class="plank" pos=".25 .25 0"/>
<geom class="plank" pos=".30 .25 0"/>
<geom class="plank" pos=".35 .25 0"/>
<geom class="plank" pos=".40 .25 0"/>
<geom class="plank" pos=".45 .25 0"/>
<geom class="plank" pos=".50 .25 0"/>
<geom class="plank" pos=".55 .25 0"/>
<geom class="plank" pos=".60 .25 0"/>
<geom class="plank" pos=".65 .25 0"/>
<geom class="plank" pos=".70 .25 0"/>
<geom class="plank" pos=".75 .25 0"/>
<geom class="plank" pos=".80 .25 0"/>
<geom class="joist" pos=".40 .09 -.2"/>
<geom class="joist" pos=".40 .49 .2"/>
</body>
​
<body pos="-.4 -.4 .7">
<freejoint/>
<geom class="plank" pos="0 .25 0"/>
<geom class="plank" pos=".05 .25 0"/>
<geom class="plank" pos=".10 .25 0"/>
<geom class="plank" pos=".15 .25 0"/>
<geom class="plank" pos=".20 .25 0"/>
<geom class="plank" pos=".25 .25 0"/>
<geom class="plank" pos=".30 .25 0"/>
<geom class="plank" pos=".35 .25 0"/>
<geom class="plank" pos=".40 .25 0"/>
<geom class="plank" pos=".45 .25 0"/>
<geom class="plank" pos=".50 .25 0"/>
<geom class="plank" pos=".55 .25 0"/>
<geom class="plank" pos=".60 .25 0"/>
<geom class="plank" pos=".65 .25 0"/>
<geom class="plank" pos=".70 .25 0"/>
<geom class="plank" pos=".75 .25 0"/>
<geom class="plank" pos=".80 .25 0"/>
<geom class="joist" pos=".40 .09 -.2"/>
<geom class="joist" pos=".40 .49 .2"/>
</body>
​
<body pos="-.4 -.4 .8">
<freejoint/>
<geom class="plank" pos="0 .25 0"/>
<geom class="plank" pos=".05 .25 0"/>
<geom class="plank" pos=".10 .25 0"/>
<geom class="plank" pos=".15 .25 0"/>
<geom class="plank" pos=".20 .25 0"/>
<geom class="plank" pos=".25 .25 0"/>
<geom class="plank" pos=".30 .25 0"/>
<geom class="plank" pos=".35 .25 0"/>
<geom class="plank" pos=".40 .25 0"/>
<geom class="plank" pos=".45 .25 0"/>
<geom class="plank" pos=".50 .25 0"/>
<geom class="plank" pos=".55 .25 0"/>
<geom class="plank" pos=".60 .25 0"/>
<geom class="plank" pos=".65 .25 0"/>
<geom class="plank" pos=".70 .25 0"/>
<geom class="plank" pos=".75 .25 0"/>
<geom class="plank" pos=".80 .25 0"/>
<geom class="joist" pos=".40 .09 -.2"/>
<geom class="joist" pos=".40 .49 .2"/>
</body>
​
<body pos="-.4 -.4 .9">
<freejoint/>
<geom class="plank" pos="0 .25 0"/>
<geom class="plank" pos=".05 .25 0"/>
<geom class="plank" pos=".10 .25 0"/>
<geom class="plank" pos=".15 .25 0"/>
<geom class="plank" pos=".20 .25 0"/>
<geom class="plank" pos=".25 .25 0"/>
<geom class="plank" pos=".30 .25 0"/>
<geom class="plank" pos=".35 .25 0"/>
<geom class="plank" pos=".40 .25 0"/>
<geom class="plank" pos=".45 .25 0"/>
<geom class="plank" pos=".50 .25 0"/>
<geom class="plank" pos=".55 .25 0"/>
<geom class="plank" pos=".60 .25 0"/>
<geom class="plank" pos=".65 .25 0"/>
<geom class="plank" pos=".70 .25 0"/>
<geom class="plank" pos=".75 .25 0"/>
<geom class="plank" pos=".80 .25 0"/>
<geom class="joist" pos=".40 .09 -.2"/>
<geom class="joist" pos=".40 .49 .2"/>
</body>
</worldbody>
</mujoco>