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Use sparse (uncompressed) actuator_moment in mj_transmission.

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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
This commit is contained in:
Taylor Howell
2024-11-01 08:05:14 -07:00
committed by Copybara-Service
parent 1d58576d28
commit a51f346059
13 changed files with 230 additions and 81 deletions
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src/engine/engine_core_smooth.c
+81 -47
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@@ -857,6 +857,9 @@ void mj_transmission(const mjModel* m, mjData* d) {
// outputs
mjtNum* length = d->actuator_length;
mjtNum* moment = d->actuator_moment;
int *rownnz = d->moment_rownnz;
int *rowadr = d->moment_rowadr;
int *colind = d->moment_colind;
// allocate Jacbians
mj_markStack(d);
@@ -875,6 +878,10 @@ void mj_transmission(const mjModel* m, mjData* d) {
// compute lengths and moments
for (int i=0; i < nu; i++) {
rownnz[i] = 0;
rowadr[i] = i == 0 ? 0 : rowadr[i-1] + rownnz[i-1];
int adr = rowadr[i];
// extract info
int id = m->actuator_trnid[2*i];
mjtNum* gear = m->actuator_gear+6*i;
@@ -885,18 +892,19 @@ void mj_transmission(const mjModel* m, mjData* d) {
case mjTRN_JOINTINPARENT: // joint, force in parent frame
// slide and hinge joint: scalar gear
if (m->jnt_type[id] == mjJNT_SLIDE || m->jnt_type[id] == mjJNT_HINGE) {
// sparsity
rownnz[i]++;
colind[adr] = m->jnt_dofadr[id];
length[i] = d->qpos[m->jnt_qposadr[id]]*gear[0];
moment[i*nv + m->jnt_dofadr[id]] = gear[0];
moment[adr] = gear[0];
}
// ball joint: 3D wrench gear
else if (m->jnt_type[id] == mjJNT_BALL) {
// j: qpos start address
int j = m->jnt_qposadr[id];
// axis: expmap representation of quaternion
mjtNum axis[3], quat[4];
mju_copy4(quat, d->qpos+j);
mju_copy4(quat, d->qpos+m->jnt_qposadr[id]);
mju_normalize4(quat);
mju_quat2Vel(axis, quat, 1);
@@ -912,11 +920,17 @@ void mj_transmission(const mjModel* m, mjData* d) {
// length: axis*gearAxis
length[i] = mju_dot3(axis, gearAxis);
// j: dof start address
j = m->jnt_dofadr[id];
// dof start address
int jnt_dofadr = m->jnt_dofadr[id];
// sparsity
for (int j = 0; j < 3; j++) {
colind[adr+j] = jnt_dofadr + j;
}
rownnz[i] += 3;
// moment: gearAxis
mju_copy3(moment+i*nv+j, gearAxis);
mju_copy3(moment+adr, gearAxis);
}
// free joint: 6D wrench gear
@@ -924,35 +938,30 @@ void mj_transmission(const mjModel* m, mjData* d) {
// cannot compute meaningful length, set to 0
length[i] = 0;
// j: qpos start address
int j = m->jnt_qposadr[id];
// vec: translational components
mjtNum vec[3];
mju_copy3(vec, d->qpos+j);
// axis: expmap representation of quaternion
mjtNum axis[3], quat[4];
mju_quat2Vel(axis, d->qpos+j+3, 1);
mju_copy4(quat, d->qpos+j+3);
mju_normalize4(quat);
mju_quat2Vel(axis, quat, 1);
// gearAxis: rotate to world frame if necessary
mjtNum gearAxis[3];
if (m->actuator_trntype[i] == mjTRN_JOINT) {
mju_copy3(gearAxis, gear+3);
} else {
mjtNum quat[4];
mju_copy4(quat, d->qpos+m->jnt_qposadr[id]+3);
mju_normalize4(quat);
mju_negQuat(quat, quat);
mju_rotVecQuat(gearAxis, gear+3, quat);
}
// j: dof start address
j = m->jnt_dofadr[id];
// dof start address
int jnt_dofadr = m->jnt_dofadr[id];
// sparsity
for (int j = 0; j < 6; j++) {
colind[adr+j] = jnt_dofadr + j;
}
rownnz[i] += 6;
// moment: gear(tran), gearAxis
mju_copy3(moment+i*nv+j, gear);
mju_copy3(moment+i*nv+j+3, gearAxis);
mju_copy3(moment+adr, gear);
mju_copy3(moment+adr+3, gearAxis);
}
break;
@@ -1000,20 +1009,26 @@ void mj_transmission(const mjModel* m, mjData* d) {
mj_jacSite(m, d, jac, 0, id);
mju_subFrom(jac, jacS, 3*nv);
// sparsity
for (int j = 0; j < nv; j++) {
colind[adr+j] = j;
}
rownnz[i] += nv;
// clear moment
mju_zero(moment+i*nv, nv);
mju_zero(moment + adr, nv);
// apply chain rule
for (int j=0; j < nv; j++) {
for (int k=0; k < 3; k++) {
moment[i*nv+j] += dlda[k]*jacA[k*nv+j] + dldv[k]*jac[k*nv+j];
moment[adr+j] += dlda[k]*jacA[k*nv+j] + dldv[k]*jac[k*nv+j];
}
}
// scale by gear ratio
length[i] *= gear[0];
for (int j = 0; j < nv; j++) {
moment[i*nv + j] *= gear[0];
moment[adr+j] *= gear[0];
}
}
break;
@@ -1022,20 +1037,32 @@ void mj_transmission(const mjModel* m, mjData* d) {
length[i] = d->ten_length[id]*gear[0];
// moment: sparse or dense
if (mj_isSparse(m)) {
// clear moment
mju_zero(moment+i*nv, nv);
if (issparse) {
// sparsity
int ten_J_rownnz = d->ten_J_rownnz[id];
int ten_J_rowadr = d->ten_J_rowadr[id];
rownnz[i] += ten_J_rownnz;
mju_copyInt(colind + adr, d->ten_J_colind + ten_J_rowadr, ten_J_rownnz);
int end = d->ten_J_rowadr[id] + d->ten_J_rownnz[id];
for (int j=d->ten_J_rowadr[id]; j < end; j++) {
moment[i*nv + d->ten_J_colind[j]] = d->ten_J[j] * gear[0];
}
mju_scl(moment + adr, d->ten_J + ten_J_rowadr, gear[0], ten_J_rownnz);
} else {
mju_scl(moment + i*nv, d->ten_J + id*nv, gear[0], nv);
// sparsity
for (int j = 0; j < nv; j++) {
colind[adr+j] = j;
}
rownnz[i] += nv;
mju_scl(moment+adr, d->ten_J + id*nv, gear[0], nv);
}
break;
case mjTRN_SITE: // site
// sparsity
for (int j = 0; j < nv; j++) {
colind[adr+j] = j;
}
rownnz[i] += nv;
// get site translation (jac) and rotation (jacS) Jacobians in global frame
mj_jacSite(m, d, jac, jacS, id);
@@ -1050,9 +1077,9 @@ void mj_transmission(const mjModel* m, mjData* d) {
mju_mulMatVec3(wrench+3, d->site_xmat+9*id, gear+3); // rotation
// moment: global Jacobian projected on wrench
mju_mulMatTVec(moment+i*nv, jac, wrench, 3, nv); // translation
mju_mulMatTVec(jac, jacS, wrench+3, 3, nv); // rotation
mju_addTo(moment+i*nv, jac, nv); // add the two
mju_mulMatTVec(moment+adr, jac, wrench, 3, nv); // translation
mju_mulMatTVec(jac, jacS, wrench+3, 3, nv); // rotation
mju_addTo(moment+adr, jac, nv); // add the two
}
// reference site defined
@@ -1089,7 +1116,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
}
// clear moment
mju_zero(moment+i*nv, nv);
mju_zero(moment+adr, nv);
// translational transmission
if (!mju_isZero(gear, 3)) {
@@ -1121,7 +1148,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
mju_mulMatVec3(wrench, d->site_xmat+9*refid, gear);
// moment: global Jacobian projected on wrench
mju_mulMatTVec(moment+i*nv, jac, wrench, 3, nv);
mju_mulMatTVec(moment+adr, jac, wrench, 3, nv);
}
// rotational transmission
@@ -1162,18 +1189,24 @@ void mj_transmission(const mjModel* m, mjData* d) {
// moment_tmp: global Jacobian projected on wrench, add to moment
if (!moment_tmp) moment_tmp = mj_stackAllocNum(d, nv);
mju_mulMatTVec(moment_tmp, jacS, wrench, 3, nv);
mju_addTo(moment+i*nv, moment_tmp, nv);
mju_addTo(moment+adr, moment_tmp, nv);
}
}
break;
case mjTRN_BODY: // body (adhesive contacts)
// sparsity
for (int j = 0; j < nv; j++) {
colind[adr+j] = j;
}
rownnz[i] += nv;
// cannot compute meaningful length, set to 0
length[i] = 0;
// clear moment
mju_zero(moment+i*nv, nv);
mju_zero(moment+adr, nv);
// moment is average of all contact normal Jacobians
{
@@ -1257,15 +1290,16 @@ void mj_transmission(const mjModel* m, mjData* d) {
// moment is average over contact normal Jacobians, make negative for adhesion
if (counter) {
// accumulate active contact Jacobians into moment
mj_mulJacTVec(m, d, moment+i*nv, efc_force);
mj_mulJacTVec(m, d, moment+adr, efc_force);
// add Jacobians from excluded contacts
mju_addTo(moment+i*nv, moment_exclude, nv);
mju_addTo(moment+adr, moment_exclude, nv);
// normalize by total contacts, flip sign
mju_scl(moment+i*nv, moment+i*nv, -1.0/counter, nv);
mju_scl(moment+adr, moment+adr, -1.0/counter, nv);
}
}
break;
default: