Remove mjOption.collision and associated option/collision attribute.
PiperOrigin-RevId: 566427090 Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
9902b73502
commit
9cf1f6eba4
@@ -174,18 +174,6 @@ Numerical integrator types. These values are used in ``m->opt.integrator``.
|
||||
|
||||
.. mujoco-include:: mjtIntegrator
|
||||
|
||||
|
||||
.. _mjtCollision:
|
||||
|
||||
mjtCollision
|
||||
~~~~~~~~~~~~
|
||||
|
||||
Collision modes specifying how candidate geom pairs are generated for near-phase collision checking. These values are
|
||||
used in ``m->opt.collision``.
|
||||
|
||||
.. mujoco-include:: mjtCollision
|
||||
|
||||
|
||||
.. _mjtCone:
|
||||
|
||||
mjtCone
|
||||
|
||||
@@ -1931,14 +1931,6 @@ adjust it properly through the XML.
|
||||
Implicit-in-velocity Euler method, and :at:`implicitfast`, which drops the Coriolis and centrifugal terms. See
|
||||
:ref:`Numerical Integration<geIntegration>` for more details.
|
||||
|
||||
.. _option-collision:
|
||||
|
||||
:at:`collision`: :at-val:`[all, predefined, dynamic], "all"`
|
||||
This attribute specifies which geom pairs should be checked for collision; recall :ref:`Collision` in the Computation
|
||||
chapter. "predefined" means that only the explicitly-defined contact :ref:`pairs <contact-pair>` are checked.
|
||||
"dynamic" means that only the contact pairs generated dynamically are checked. "all" means that the contact pairs
|
||||
from both sources are checked.
|
||||
|
||||
.. _option-cone:
|
||||
|
||||
:at:`cone`: :at-val:`[pyramidal, elliptic], "pyramidal"`
|
||||
|
||||
+3
-3
@@ -224,11 +224,11 @@
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`integrator<option-integrator>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`collision<option-collision>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
|
||||
| | | | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | :ref:`iterations<option-iterations>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
|
||||
| | | | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | :ref:`sdf_iterations<option-sdf_iterations>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | | | |
|
||||
| | | | :ref:`sdf_initpoints<option-sdf_initpoints>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| option |br| |_| |L| | | .. table:: |
|
||||
|
||||
+22
-11
@@ -62,35 +62,46 @@ General
|
||||
- Renamed ``mjData.solver_iter`` to ``solver_niter``. Both this member and ``mjData.solver_nnz`` are now integer
|
||||
vectors of length ``mjNISLAND``.
|
||||
|
||||
8. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
|
||||
8. Removed ``mjOption.collision`` and the associated ``option/collision`` attribute.
|
||||
|
||||
**Migration:**
|
||||
|
||||
- For models which have ``<option collision="all"/>``, delete the attribute.
|
||||
- For models which have ``<option collision="dynamic"/>``, delete all :ref:`pair<contact-pair>` elements.
|
||||
- For models which have ``<option collision="pair"/>``, disable all dynamic collisions (determined
|
||||
via contype/conaffinity) by first deleting all :ref:`contype<body-geom-contype>` and
|
||||
:ref:`conaffinity<body-geom-conaffinity>` attributes in the model and then setting them globally to ``0`` using
|
||||
|br| ``<default> <geom contype="0" conaffinity="0"/> </default>``.
|
||||
|
||||
9. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
|
||||
the exact formula rather than with Euler integration.
|
||||
9. 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.
|
||||
10. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
|
||||
10. 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.
|
||||
11. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
|
||||
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
|
||||
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
|
||||
11. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
|
||||
12. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
|
||||
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
|
||||
12. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
|
||||
13. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
|
||||
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
|
||||
13. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
|
||||
14. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
|
||||
linesearch stopping criteria in CG and Newton solvers. These can be useful for performance tuning.
|
||||
14. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
|
||||
15. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
|
||||
mesh assets. Fixes `#409 <https://github.com/google-deepmind/mujoco/issues/409>`__ .
|
||||
15. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
|
||||
16. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
|
||||
sensor. If camera resolution is set to positive values, the camera projection sensor will report the location of a
|
||||
target site, projected onto the camera image, in pixel coordinates.
|
||||
|
||||
Python bindings
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
16. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
|
||||
17. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
|
||||
camera name used the default camera.
|
||||
|
||||
Bug fixes
|
||||
^^^^^^^^^
|
||||
|
||||
17. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
|
||||
18. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
|
||||
midphase collision trees.
|
||||
|
||||
|
||||
|
||||
+10
-17
@@ -1466,25 +1466,18 @@ others can be pruned quickly without a detailed check. MuJoCo has flexible mecha
|
||||
checked in detail. The decision process involves two stages: generation and filtering.
|
||||
|
||||
Generation
|
||||
First we generate a list of candidate geom pairs in one of two ways: "pair" or "dynamic". The user can also specify
|
||||
"all" which merges both sources (and is the default). This is done via the setting ``mjModel.opt.collision``. "Pair"
|
||||
refers to an explicit list of geom pairs defined with the :ref:`pair <contact-pair>` element in MJCF. It gives the
|
||||
user full control, however it is a static mechanism (independent of the spatial arrangement of the geoms at runtime)
|
||||
and can be tedious for large models. It is normally used to supplement the output of the "dynamic" mechanism. Dynamic
|
||||
generation works with bodies rather than geoms; when a body pair is included this means that all geoms attached to
|
||||
one body can collide with all geoms attached to the other body.
|
||||
First we generate a list of candidate geom pairs in two ways:
|
||||
|
||||
The body pairs are generated via broad-phase collision detection based on a modified sweep-and-prune algorithm. The
|
||||
modification is that the axis for sorting is chosen as the principal eigenvector of the covariance matrix of all geom
|
||||
centers - which maximizes the spread. Then, for each body pair, a mid-phase collision detection using a static
|
||||
bounding volume hierarchy (a BVH binary tree) of axis-aligned bounding boxes (AABB) is performed. Each body is
|
||||
equipped with an AABB tree of its geoms, aligned with the body inertial or geom frames for all inner or leaf nodes,
|
||||
respectively.
|
||||
- Using predefined geom pairs, specified with the :ref:`contact-pair <contact-pair>` element. This mechanism is
|
||||
independent of the spatial arrangement of the geoms at runtime.
|
||||
- Generating candidate geom pairs by examining the runtime locations of bodies. First, a sweep-and-prune broadphase
|
||||
collision stage prunes bodies that cannot collide. Then, a mid-phase collision stage further prunes geom pairs from
|
||||
remaining body pairs using a static Bounding Volume Hierarchy (a binary tree) of axis-aligned bounding boxes.
|
||||
Each body is equipped with an AABB tree of its geoms, aligned with the body inertial or geom frames for all inner
|
||||
or leaf nodes, respectively.
|
||||
- The user can also explicitly exclude certain body pairs using the :ref:`exclude <contact-exclude>` element.
|
||||
|
||||
Finally, the user can explicitly exclude certain body pairs using the :ref:`exclude <contact-exclude>` element
|
||||
in MJCF. Exclusion is applied when "dynamic" or "all" are selected, but not when "pair" is selected. At the end of
|
||||
this step we have a list of geoms pairs that is typically much smaller than :math:`n (n-1)/2`, but can still be
|
||||
pruned further before detailed collision checking.
|
||||
These two lists are then merged.
|
||||
|
||||
Filtering
|
||||
Next we apply four filters to the list generated in the previous step. Filters 1 and 2 are applied to all geom pairs.
|
||||
|
||||
@@ -460,11 +460,6 @@ typedef enum mjtIntegrator_ { // integrator mode
|
||||
mjINT_IMPLICIT, // implicit in velocity
|
||||
mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
|
||||
} mjtIntegrator;
|
||||
typedef enum mjtCollision_ { // collision mode for selecting geom pairs
|
||||
mjCOL_ALL = 0, // test precomputed and dynamic pairs
|
||||
mjCOL_PAIR, // test predefined pairs only
|
||||
mjCOL_DYNAMIC // test dynamic pairs only
|
||||
} mjtCollision;
|
||||
typedef enum mjtCone_ { // type of friction cone
|
||||
mjCONE_PYRAMIDAL = 0, // pyramidal
|
||||
mjCONE_ELLIPTIC // elliptic
|
||||
@@ -694,7 +689,6 @@ struct mjOption_ { // physics options
|
||||
|
||||
// discrete settings
|
||||
int integrator; // integration mode (mjtIntegrator)
|
||||
int collision; // collision mode (mjtCollision)
|
||||
int cone; // type of friction cone (mjtCone)
|
||||
int jacobian; // type of Jacobian (mjtJacobian)
|
||||
int solver; // solver algorithm (mjtSolver)
|
||||
|
||||
Reference in New Issue
Block a user