Introduce trilinear flex parametrization.
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh. On an 8x8x8 cube, the performance using DOFs at all vertices is ``` Simulation time : 18.74 s Steps per second : 533 Realtime factor : 0.53 x Time per step : 1874.4 µs Contacts per step : 114.88 Constraints per step : 3322.51 Degrees of freedom : 1536 ``` With the new implementation, it is the following: ``` Simulation time : 1.82 s Steps per second : 5507 Realtime factor : 5.51 x Time per step : 181.6 µs Contacts per step : 38.84 Constraints per step : 155.36 Degrees of freedom : 24 ``` PiperOrigin-RevId: 721008829 Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
1a4b821b6b
commit
7cdf180641
+154
-1
@@ -28,14 +28,15 @@
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namespace mujoco {
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namespace {
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using ::testing::DoubleNear;
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using ::testing::IsNull;
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using ::testing::NotNull;
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using ::testing::HasSubstr;
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using ::testing::Pointwise;
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using UserFlexTest = MujocoTest;
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TEST_F(UserFlexTest, ParentMustHaveName) {
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static constexpr char xml[] = R"(
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<mujoco>
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@@ -282,6 +283,158 @@ TEST_F(UserFlexTest, BoundingBoxCoordinates) {
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mj_deleteData(d);
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}
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TEST_F(UserFlexTest, TrilinearCannotDoSelfCollision) {
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std::array<char, 1024> error;
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static constexpr char xml_selfcoll[] = R"(
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<mujoco>
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<worldbody>
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<flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3" dof="trilinear">
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<contact selfcollide="auto" internal="false"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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)";
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mjModel* m1 = LoadModelFromString(xml_selfcoll, error.data(), error.size());
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EXPECT_THAT(m1, IsNull()) << error.data();
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EXPECT_THAT(error.data(),
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HasSubstr("trilinear interpolation cannot do self-collision"));
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static constexpr char xml_internal[] = R"(
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<mujoco>
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<worldbody>
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<flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3" dof="trilinear">
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<contact selfcollide="none" internal="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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)";
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mjModel* m2 = LoadModelFromString(xml_internal, error.data(), error.size());
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EXPECT_THAT(m2, IsNull()) << error.data();
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EXPECT_THAT(error.data(),
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HasSubstr("trilinear interpolation cannot do internal"));
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}
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TEST_F(UserFlexTest, TrilinearInterpolation) {
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static constexpr char xml_trilinear[] = R"(
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<mujoco>
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<worldbody>
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<geom type="plane" pos="0 0 -.5" size="10 10 .1"/>
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<flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3" dof="trilinear">
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* m1 = LoadModelFromString(xml_trilinear, error.data(), error.size());
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ASSERT_THAT(m1, NotNull()) << error.data();
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mjData* d1 = mj_makeData(m1);
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mj_step(m1, d1);
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static constexpr char xml_linear[] = R"(
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<mujoco>
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<worldbody>
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<geom type="plane" pos="0 0 -.5" size="10 10 .1"/>
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<flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3">
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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)";
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mjModel* m2 = LoadModelFromString(xml_linear, error.data(), error.size());
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ASSERT_THAT(m2, NotNull()) << error.data();
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mjData* d2 = mj_makeData(m2);
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mj_step(m2, d2);
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EXPECT_EQ(m1->nflexvert, m2->nflexvert);
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for (int i = 0; i < 3*m1->nflexvert; ++i) {
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EXPECT_EQ(m1->flex_vert[i], d2->flexvert_xpos[i]);
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EXPECT_EQ(m1->flex_vert0[i], m2->flex_vert0[i]);
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EXPECT_EQ(d1->flexvert_xpos[i], d2->flexvert_xpos[i]);
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}
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EXPECT_EQ(m1->nM, m2->nM);
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for (int i = 0; i < m1->nM; ++i) {
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EXPECT_EQ(d1->qM[i], d2->qM[i]);
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}
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EXPECT_EQ(m1->nbody, m2->nbody);
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for (int i = 0; i < m2->nbody; ++i) {
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if (i == 0) {
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continue;
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}
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EXPECT_EQ(m1->body_mass[i], m2->body_mass[i]);
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for (int j = 0; j < 2; ++j) {
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EXPECT_EQ(m1->body_invweight0[i*2+j], m2->body_invweight0[i*2+j]);
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}
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for (int j = 0; j < 10; ++j) {
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EXPECT_NEAR(d1->cinert[10*i+j], d2->cinert[i*10+j], 1e-5) << i;
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EXPECT_NEAR(d1->crb[10*i+j], d2->crb[i*10+j], 1e-5) << i;
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}
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}
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EXPECT_EQ(d1->ncon, 4);
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EXPECT_EQ(d2->ncon, 4);
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for (int i = 0; i < d1->ncon; ++i) {
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EXPECT_EQ(d1->contact[i].dist, d2->contact[i].dist);
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EXPECT_EQ(d1->contact[i].mu, d2->contact[i].mu);
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for (int j = 0; j < 5; ++j) {
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EXPECT_EQ(d1->contact[i].friction[j], d2->contact[i].friction[j]);
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}
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for (int j = 0; j < 3; ++j) {
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EXPECT_EQ(d1->contact[i].pos[j], d2->contact[i].pos[j]);
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}
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for (int j = 0; j < 9; ++j) {
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EXPECT_EQ(d1->contact[i].frame[j], d2->contact[i].frame[j]);
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}
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for (int j = 0; j < 36; ++j) {
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EXPECT_EQ(d1->contact[i].H[j], d2->contact[i].H[j]);
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}
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}
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EXPECT_EQ(d1->nefc, 4*(d1->contact[0].dim-1)*2);
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EXPECT_EQ(d2->nefc, 4*(d2->contact[0].dim-1)*2);
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EXPECT_EQ(d1->nJ, d2->nJ);
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for (int i = 0; i < d1->nefc; ++i) {
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EXPECT_EQ(d1->efc_diagApprox[i], d2->efc_diagApprox[i]);
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EXPECT_EQ(d1->efc_D[i], d2->efc_D[i]);
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}
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mj_deleteModel(m1);
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mj_deleteModel(m2);
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mj_deleteData(d1);
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mj_deleteData(d2);
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}
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TEST_F(UserFlexTest, StiffnessMatrix) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<flexcomp name="test" type="grid" count="3 3 3" spacing="1 1 1" dim="3" dof="trilinear">
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<contact selfcollide="none" internal="false"/>
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<elasticity young="1"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* m = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(m, NotNull()) << error.data();
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EXPECT_NE(m->flex_stiffness[0], 0);
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EXPECT_EQ(m->nflexnode, 8);
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// constants are in the kernel
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mjtNum ones[24], zeros[24], res[24];
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for (int i = 0; i < 3*m->nflexnode; ++i) {
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zeros[i] = 0;
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ones[i] = 1;
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}
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mju_mulMatVec(res, m->flex_stiffness, ones, 3*m->nflexnode, 3*m->nflexnode);
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EXPECT_THAT(res, Pointwise(DoubleNear(1e-8), zeros));
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mj_deleteModel(m);
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}
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TEST_F(UserFlexTest, LoadMSHBinary_41_Success) {
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const std::string xml_path =
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GetTestDataFilePath("user/testdata/cube_41_binary_vol_gmshApp.xml");
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