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Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.

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PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
This commit is contained in:
Yuval Tassa
2023-10-25 05:00:51 -07:00
committed by Copybara-Service
parent 190bfac2d6
commit a89412bb4a
8 changed files with 189 additions and 75 deletions
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doc/changelog.rst
+13 -6
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@@ -5,19 +5,26 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`:
``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``.
Bug fixes
^^^^^^^^^
1. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
2. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
3. Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
4. Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
5. Removed empty EFC rows from `MJX`, for joints with no limits (fixes :github:issue:`1117`).
2. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
3. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
4. Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
5. Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
6. Removed empty EFC rows from `MJX`, for joints with no limits (fixes :github:issue:`1117`).
Documentation
^^^^^^^^^^^^^
5. Added documentation for the :ref:`UI` framework.
7. Added documentation for the :ref:`UI` framework.
Version 3.0.0 (October 18, 2023)
--------------------------------
doc/includes/references.h
+5 -1
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@@ -292,7 +292,11 @@ struct mjData_ {
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_passive; // passive force (nv x 1)
mjtNum* qfrc_spring; // passive spring force (nv x 1)
mjtNum* qfrc_damper; // passive damper force (nv x 1)
mjtNum* qfrc_gravcomp; // passive gravity compensation force (nv x 1)
mjtNum* qfrc_fluid; // passive fluid force (nv x 1)
mjtNum* qfrc_passive; // total passive force (nv x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
include/mujoco/mjdata.h
+5 -1
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@@ -320,7 +320,11 @@ struct mjData_ {
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
// computed by mj_fwdVelocity/mj_passive
mjtNum* qfrc_passive; // passive force (nv x 1)
mjtNum* qfrc_spring; // passive spring force (nv x 1)
mjtNum* qfrc_damper; // passive damper force (nv x 1)
mjtNum* qfrc_gravcomp; // passive gravity compensation force (nv x 1)
mjtNum* qfrc_fluid; // passive fluid force (nv x 1)
mjtNum* qfrc_passive; // total passive force (nv x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
include/mujoco/mjxmacro.h
+4
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@@ -618,6 +618,10 @@
X ( mjtNum, cvel, nbody, 6 ) \
X ( mjtNum, cdof_dot, nv, 6 ) \
X ( mjtNum, qfrc_bias, nv, 1 ) \
X ( mjtNum, qfrc_spring, nv, 1 ) \
X ( mjtNum, qfrc_damper, nv, 1 ) \
X ( mjtNum, qfrc_gravcomp, nv, 1 ) \
X ( mjtNum, qfrc_fluid, nv, 1 ) \
X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \
introspect/structs.py
+29 -1
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@@ -4680,12 +4680,40 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='C(qpos,qvel) (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_spring',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='passive spring force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_damper',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='passive damper force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_gravcomp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='passive gravity compensation force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_fluid',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='passive fluid force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_passive',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='passive force (nv x 1)', # pylint: disable=line-too-long
doc='total passive force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='subtree_linvel',
src/engine/engine_passive.c
+124 -65
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@@ -33,23 +33,14 @@
//----------------------------- passive forces -----------------------------------------------------
// all passive forces
void mj_passive(const mjModel* m, mjData* d) {
// spring and damper forces
static void mj_springdamper(const mjModel* m, mjData* d) {
int nv = m->nv, njnt = m->njnt, ntendon = m->ntendon;
int issparse = mj_isSparse(m);
int nv = m->nv;
mjtNum dif[3], frc, stiffness, damping;
// clear passive force
mju_zero(d->qfrc_passive, m->nv);
// disabled: return
if (mjDISABLED(mjDSBL_PASSIVE)) {
return;
}
// joint-level springs
for (int i=0; i < m->njnt; i++) {
stiffness = m->jnt_stiffness[i];
for (int i=0; i < njnt; i++) {
mjtNum stiffness = m->jnt_stiffness[i];
// disabled : nothing to do
if (stiffness == 0) {
@@ -62,9 +53,9 @@ void mj_passive(const mjModel* m, mjData* d) {
switch ((mjtJoint) m->jnt_type[i]) {
case mjJNT_FREE:
// apply force
d->qfrc_passive[dadr+0] -= stiffness*(d->qpos[padr+0] - m->qpos_spring[padr+0]);
d->qfrc_passive[dadr+1] -= stiffness*(d->qpos[padr+1] - m->qpos_spring[padr+1]);
d->qfrc_passive[dadr+2] -= stiffness*(d->qpos[padr+2] - m->qpos_spring[padr+2]);
d->qfrc_spring[dadr+0] = -stiffness*(d->qpos[padr+0] - m->qpos_spring[padr+0]);
d->qfrc_spring[dadr+1] = -stiffness*(d->qpos[padr+1] - m->qpos_spring[padr+1]);
d->qfrc_spring[dadr+2] = -stiffness*(d->qpos[padr+2] - m->qpos_spring[padr+2]);
// continue with rotations
dadr += 3;
@@ -72,34 +63,38 @@ void mj_passive(const mjModel* m, mjData* d) {
mjFALLTHROUGH;
case mjJNT_BALL:
// covert quatertion difference into angular "velocity"
mju_subQuat(dif, d->qpos + padr, m->qpos_spring + padr);
{
mjtNum dif[3];
// convert quatertion difference into angular "velocity"
mju_subQuat(dif, d->qpos + padr, m->qpos_spring + padr);
// apply torque
d->qfrc_passive[dadr+0] -= stiffness*dif[0];
d->qfrc_passive[dadr+1] -= stiffness*dif[1];
d->qfrc_passive[dadr+2] -= stiffness*dif[2];
// apply torque
d->qfrc_spring[dadr+0] = -stiffness*dif[0];
d->qfrc_spring[dadr+1] = -stiffness*dif[1];
d->qfrc_spring[dadr+2] = -stiffness*dif[2];
}
break;
case mjJNT_SLIDE:
case mjJNT_HINGE:
// apply force or torque
d->qfrc_passive[dadr] -= stiffness*(d->qpos[padr] - m->qpos_spring[padr]);
d->qfrc_spring[dadr] = -stiffness*(d->qpos[padr] - m->qpos_spring[padr]);
break;
}
}
// dof-level dampers
for (int i=0; i < m->nv; i++) {
if ((damping = m->dof_damping[i]) != 0) {
d->qfrc_passive[i] -= damping*d->qvel[i];
mjtNum damping = m->dof_damping[i];
if (damping != 0) {
d->qfrc_damper[i] = -damping*d->qvel[i];
}
}
// flexedge-level spring-dampers
for (int f=0; f < m->nflex; f++) {
stiffness = m->flex_edgestiffness[f];
damping = m->flex_edgedamping[f];
mjtNum stiffness = m->flex_edgestiffness[f];
mjtNum damping = m->flex_edgedamping[f];
// disabled or rigid: nothing to do
if (m->flex_rigid[f] || (stiffness == 0 && damping == 0)) {
@@ -115,25 +110,29 @@ void mj_passive(const mjModel* m, mjData* d) {
}
// compute spring-damper force along edge
frc = stiffness * (m->flexedge_length0[e] - d->flexedge_length[e])
- damping * d->flexedge_velocity[e];
mjtNum frc_spring = stiffness * (m->flexedge_length0[e] - d->flexedge_length[e]);
mjtNum frc_damper = -damping * d->flexedge_velocity[e];
// transform to joint torque, add to qfrc_passive: dense or sparse
// transform to joint torque, add to qfrc_{spring, damper}: dense or sparse
if (issparse) {
int end = d->flexedge_J_rowadr[e] + d->flexedge_J_rownnz[e];
for (int j=d->flexedge_J_rowadr[e]; j < end; j++) {
d->qfrc_passive[d->flexedge_J_colind[j]] += d->flexedge_J[j] * frc;
int colind = d->flexedge_J_colind[j];
mjtNum J = d->flexedge_J[j];
d->qfrc_spring[colind] += J * frc_spring;
d->qfrc_damper[colind] += J * frc_damper;
}
} else {
mju_addToScl(d->qfrc_passive, d->flexedge_J+e*nv, frc, nv);
if (frc_spring) mju_addToScl(d->qfrc_spring, d->flexedge_J+e*nv, frc_spring, nv);
if (frc_damper) mju_addToScl(d->qfrc_damper, d->flexedge_J+e*nv, frc_damper, nv);
}
}
}
// tendon-level spring-dampers
for (int i=0; i < m->ntendon; i++) {
stiffness = m->tendon_stiffness[i];
damping = m->tendon_damping[i];
for (int i=0; i < ntendon; i++) {
mjtNum stiffness = m->tendon_stiffness[i];
mjtNum damping = m->tendon_damping[i];
// disabled : nothing to do
if (stiffness == 0 && damping == 0) {
@@ -144,54 +143,78 @@ void mj_passive(const mjModel* m, mjData* d) {
mjtNum length = d->ten_length[i];
mjtNum lower = m->tendon_lengthspring[2*i];
mjtNum upper = m->tendon_lengthspring[2*i+1];
mjtNum frc_spring = 0;
if (length > upper) {
frc = stiffness * (upper - length);
frc_spring = stiffness * (upper - length);
} else if (length < lower) {
frc = stiffness * (lower - length);
} else {
frc = 0;
frc_spring = stiffness * (lower - length);
}
// compute damper linear force along tendon
frc -= damping * d->ten_velocity[i];
mjtNum frc_damper = -damping * d->ten_velocity[i];
// transform to joint torque, add to qfrc_passive: dense or sparse
// transform to joint torque, add to qfrc_{spring, damper}: dense or sparse
if (issparse) {
int end = d->ten_J_rowadr[i] + d->ten_J_rownnz[i];
for (int j=d->ten_J_rowadr[i]; j < end; j++) {
d->qfrc_passive[d->ten_J_colind[j]] += d->ten_J[j] * frc;
if (frc_spring || frc_damper) {
int end = d->ten_J_rowadr[i] + d->ten_J_rownnz[i];
for (int j=d->ten_J_rowadr[i]; j < end; j++) {
int k = d->ten_J_colind[j];
mjtNum J = d->ten_J[j];
d->qfrc_spring[k] += J * frc_spring;
d->qfrc_damper[k] += J * frc_damper;
}
}
} else {
mju_addToScl(d->qfrc_passive, d->ten_J+i*nv, frc, nv);
if (frc_spring) mju_addToScl(d->qfrc_spring, d->ten_J+i*nv, frc_spring, nv);
if (frc_damper) mju_addToScl(d->qfrc_damper, d->ten_J+i*nv, frc_damper, nv);
}
}
}
// body-level gravity compensation, return 1 if any, 0 otherwise
static int mj_gravcomp(const mjModel* m, mjData* d) {
if (mjDISABLED(mjDSBL_GRAVITY) || mju_norm3(m->opt.gravity) == 0) {
return 0;
}
int nbody = m->nbody, has_gravcomp = 0;
mjtNum force[3], torque[3]={0};
// apply per-body gravity compensation
for (int i=1; i < nbody; i++) {
if (m->body_gravcomp[i]) {
has_gravcomp = 1;
mju_scl3(force, m->opt.gravity, -(m->body_mass[i]*m->body_gravcomp[i]));
mj_applyFT(m, d, force, torque, d->xipos+3*i, i, d->qfrc_gravcomp);
}
}
// body-level gravity compensation
if (!mjDISABLED(mjDSBL_GRAVITY) && mju_norm3(m->opt.gravity)) {
mjtNum force[3], torque[3]={0};
return has_gravcomp;
}
// apply per-body gravity compensation
for (int i=1; i < m->nbody; i++) {
if (m->body_gravcomp[i]) {
mju_scl3(force, m->opt.gravity, -(m->body_mass[i]*m->body_gravcomp[i]));
mj_applyFT(m, d, force, torque, d->xipos+3*i, i, d->qfrc_passive);
}
}
}
// body-level viscosity, lift and drag
if (m->opt.viscosity > 0 || m->opt.density > 0) {
for (int i=1; i < m->nbody; i++) {
// fluid forces
static int mj_fluid(const mjModel* m, mjData* d) {
int nbody = m->nbody;
int has_fluid = m->opt.viscosity > 0 || m->opt.density > 0;
if (has_fluid) {
for (int i=1; i < nbody; i++) {
if (m->body_mass[i] < mjMINVAL) {
continue;
}
int use_ellipsoid_model = 0;
// if any child geom uses the ellipsoid model, inertia-box model is disabled for parent body
for (int j=0; j < m->body_geomnum[i] && use_ellipsoid_model == 0; j++) {
int use_ellipsoid_model = 0;
int geomnum = m->body_geomnum[i];
for (int j=0; j < geomnum && use_ellipsoid_model == 0; j++) {
const int geomid = m->body_geomadr[i] + j;
use_ellipsoid_model += (m->geom_fluid[mjNFLUID*geomid] > 0);
}
if (use_ellipsoid_model) {
mj_ellipsoidFluidModel(m, d, i);
} else {
@@ -200,14 +223,50 @@ void mj_passive(const mjModel* m, mjData* d) {
}
}
return has_fluid;
}
// all passive forces
void mj_passive(const mjModel* m, mjData* d) {
int nv = m->nv;
// clear all passive force vectors
mju_zero(d->qfrc_spring, nv);
mju_zero(d->qfrc_damper, nv);
mju_zero(d->qfrc_gravcomp, nv);
mju_zero(d->qfrc_fluid, nv);
mju_zero(d->qfrc_passive, nv);
// disabled: return
if (mjDISABLED(mjDSBL_PASSIVE)) {
return;
}
// springs and dampers
mj_springdamper(m, d);
// gravity compensation
int has_gravcomp = mj_gravcomp(m, d);
// fluid forces
int has_fluid = mj_fluid(m, d);
// add passive forces into qfrc_passive
mju_add(d->qfrc_passive, d->qfrc_spring, d->qfrc_damper, nv);
if (has_gravcomp) mju_addTo(d->qfrc_passive, d->qfrc_gravcomp, nv);
if (has_fluid) mju_addTo(d->qfrc_passive, d->qfrc_fluid, nv);
// user callback: add custom passive forces
if (mjcb_passive) {
mjcb_passive(m, d);
}
// plugin
// plugin: add custom passive forces
if (m->nplugin) {
const int nslot = mjp_pluginCount();
// iterate over plugins, call compute if type is mjPLUGIN_PASSIVE
for (int i=0; i < m->nplugin; i++) {
const int slot = m->plugin[i];
@@ -285,7 +344,7 @@ void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i) {
mju_rotVecMat(bfrc+3, lfrc+3, d->ximat+9*i);
// apply force and torque to body com
mj_applyFT(m, d, bfrc+3, bfrc, d->xipos+3*i, i, d->qfrc_passive);
mj_applyFT(m, d, bfrc+3, bfrc, d->xipos+3*i, i, d->qfrc_fluid);
}
@@ -347,7 +406,7 @@ void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
// apply force and torque to body com
mj_applyFT(m, d, bfrc+3, bfrc,
d->geom_xpos + 3*geomid, // point where FT is generated
bodyid, d->qfrc_passive);
bodyid, d->qfrc_fluid);
}
}
src/engine/engine_print.c
+5 -1
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@@ -1085,7 +1085,11 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("QFRC_BIAS", m->nv, 1, d->qfrc_bias, fp, float_format);
printArray("QFRC_PASSIVE", m->nv, 1, d->qfrc_passive, fp, float_format);
printArray("QFRC_SPRING", m->nv, 1, d->qfrc_spring, fp, float_format);
printArray("QFRC_DAMPER", m->nv, 1, d->qfrc_damper, fp, float_format);
printArray("QFRC_GRAVCOMP", m->nv, 1, d->qfrc_gravcomp, fp, float_format);
printArray("QFRC_FLUID", m->nv, 1, d->qfrc_fluid, fp, float_format);
printArray("QFRC_PASSIVE", m->nv, 1, d->qfrc_passive, fp, float_format);
printArray("EFC_VEL", d->nefc, 1, d->efc_vel, fp, float_format);
printArray("EFC_AREF", d->nefc, 1, d->efc_aref, fp, float_format);
unity/Runtime/Bindings/MjBindings.cs
+4
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@@ -4849,6 +4849,10 @@ public unsafe struct mjData_ {
public double* cvel;
public double* cdof_dot;
public double* qfrc_bias;
public double* qfrc_spring;
public double* qfrc_damper;
public double* qfrc_gravcomp;
public double* qfrc_fluid;
public double* qfrc_passive;
public double* subtree_linvel;
public double* subtree_angmom;