From d05251af2a7fb677f31f5896fbe689d9073e25d2 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 4 Apr 2025 07:42:40 -0700 Subject: [PATCH] Add tendon armature PiperOrigin-RevId: 743939992 Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919 --- doc/XMLreference.rst | 22 ++- doc/changelog.rst | 1 + doc/images/XMLreference/tendon_armature.gif | Bin 0 -> 125761 bytes .../XMLreference/tendon_armature_dark.gif | Bin 0 -> 135942 bytes src/engine/engine_core_smooth.c | 124 +++++++++++- src/engine/engine_core_smooth.h | 9 + src/engine/engine_forward.c | 15 +- src/engine/engine_inverse.c | 5 +- src/engine/engine_setconst.c | 3 +- src/user/user_model.cc | 76 +++++--- src/user/user_model.h | 1 + test/engine/engine_core_smooth_test.cc | 178 ++++++++++++++++++ .../testdata/core_smooth/ten_armature_0.xml | 28 +++ .../core_smooth/ten_armature_0_compare.xml | 17 ++ .../core_smooth/ten_armature_0_equiv.xml | 20 ++ .../testdata/core_smooth/ten_armature_1.xml | 28 +++ .../core_smooth/ten_armature_1_compare.xml | 26 +++ .../core_smooth/ten_armature_1_equiv.xml | 34 ++++ .../testdata/core_smooth/ten_armature_2.xml | 29 +++ .../testdata/core_smooth/ten_armature_3.xml | 39 ++++ .../testdata/core_smooth/ten_armature_4.xml | 47 +++++ .../core_smooth/ten_armature_offtree.xml | 77 ++++++++ 22 files changed, 735 insertions(+), 44 deletions(-) create mode 100644 doc/images/XMLreference/tendon_armature.gif create mode 100644 doc/images/XMLreference/tendon_armature_dark.gif create mode 100644 test/engine/testdata/core_smooth/ten_armature_0.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_0_compare.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_0_equiv.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_1.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_1_compare.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_1_equiv.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_2.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_3.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_4.xml create mode 100644 test/engine/testdata/core_smooth/ten_armature_offtree.xml diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 8ad6c587..6166691b 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -4706,12 +4706,30 @@ length X, as in the clip on the right of `this example model joint damping which is integrated implicitly by the Euler method, tendon damping is not integrated implicitly, thus joint damping should be used if possible. -.. TODO(tassa): Update here once the feature is implemented. +.. image:: images/XMLreference/tendon_armature.gif + :width: 30% + :align: right + :class: only-light + :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/core_smooth/ten_armature_1_compare.xml +.. image:: images/XMLreference/tendon_armature_dark.gif + :width: 30% + :align: right + :class: only-dark + :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/core_smooth/ten_armature_1_compare.xml .. _tendon-spatial-armature: :at:`armature`: :at-val:`real, "0"` - Inertia associated with tendon. This feature is not yet implemented. + Inertia associated with changes in tendon length. Setting this attribute to a positive value :math:`m` adds a kinetic + energy term :math:`\frac{1}{2}mv^2`, where :math:`v` is the tendon velocity. Tendon inertia is most valuable + when modeling the :ref:`armature` inertia in a linear actuator which contains a spinning element + or the inertial motion of a fluid in a linear hydraulic actuator. In the illustration, we compare (*left*) a 3-dof + system with a "tendon" implemented with a rotational joint and a slider joint with + :ref:`armature`, attached to the world with a :ref:`connect` constraint and + (*right*) an equivalent 1-dof model with an armature-bearing tendon. Like joint :ref:`armature`, + this added inertia is only associated with changes in tendon length, and would not affect the dynamics of a moving + fixed-length tendon. Because the tendon Jacobian :math:`J` is position-dependent, tendon armature leads to an + additional bias-force term :math:`c = m J \dot{J}^T \dot{q}`. .. _tendon-spatial-user: diff --git a/doc/changelog.rst b/doc/changelog.rst index 3f727ebb..b5d51bc0 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -15,6 +15,7 @@ Upcoming version (not yet released) General ^^^^^^^ +- Added :ref:`tendon armature`: inertia associated with changes in tendon length. - Added the :ref:`compiler/saveinertial` flag, writing explicit inertial clauses for all bodies when saving to XML. - Added :ref:`orientation` attribute to :ref:`composite`. 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zP~er&CuZ|(U3IMrZ5~KgTk58mcb2CmT)`}rC!A;~hF}^p5Mr}VggN%p*w44w5b&~Q*%E{dT2K=;Y(bd zbz7ghfi)EDaXr$2_^Az6S`&syNHSAq#Wx<*6OiT(#8LY6GtD6m{Pg!13x4U;$S2po(VV;5xC7A{ zFJlOTz@pRKln0%Dn4J4*=d*rS-xnm)S*rD()|GK!4}+C?MGMVN7x$i$es4Hn4RdI6 zcnAg~>wmw1YNe%3Jy3$EE=<4Q^xl!!D@6R|BbW+4(?5MoS33|LvMGc?zq rVcq&SGjFgLzq9|NSJqVA5~CxMqN9kB>BPY3z081v`;(X;ki-86l<`J7 literal 0 HcmV?d00001 diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c index 22870d7b..0bb97dc7 100644 --- a/src/engine/engine_core_smooth.c +++ b/src/engine/engine_core_smooth.c @@ -865,15 +865,7 @@ void mj_tendon(const mjModel* m, mjData* d) { void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) { int nv = m->nv; - // allocate stack arrays - mjtNum *jac1, *jac2, *jacdif, *tmp; - mj_markStack(d); - jac1 = mjSTACKALLOC(d, 3*nv, mjtNum); - jac2 = mjSTACKALLOC(d, 3*nv, mjtNum); - jacdif = mjSTACKALLOC(d, 3*nv, mjtNum); - tmp = mjSTACKALLOC(d, nv, mjtNum); - - // return if tendon id is invalid + // tendon id is invalid: return if (id < 0 || id >= m->ntendon) { return; } @@ -887,6 +879,13 @@ void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) { return; } + // allocate stack arrays + mj_markStack(d); + mjtNum* jac1 = mjSTACKALLOC(d, 3*nv, mjtNum); + mjtNum* jac2 = mjSTACKALLOC(d, 3*nv, mjtNum); + mjtNum* jacdif = mjSTACKALLOC(d, 3*nv, mjtNum); + mjtNum* tmp = mjSTACKALLOC(d, nv, mjtNum); + // process spatial tendon mjtNum divisor = 1; int wraptype, j = 0; @@ -1470,6 +1469,63 @@ void mj_transmission(const mjModel* m, mjData* d) { //-------------------------- inertia --------------------------------------------------------------- +// add tendon armature to qM +void mj_tendonArmature(const mjModel* m, mjData* d) { + TM_START; + int nv = m->nv, ntendon = m->ntendon, issparse = mj_isSparse(m); + + for (int k=0; k < ntendon; k++) { + mjtNum armature = m->tendon_armature[k]; + + if (!armature) { + continue; + } + + // dense + if (!issparse) { + mjtNum* ten_J = d->ten_J + nv*k; + for (int i=0; i < m->nv; i++) { + int Madr = m->dof_Madr[i]; + for (int j = i; j >= 0; j = m->dof_parentid[j]) { + d->qM[Madr++] += armature * ten_J[j] * ten_J[i]; + } + } + } + + // sparse + else { + // get sparse info for tendon k + int rowadr = d->ten_J_rowadr[k]; + int rownnz = d->ten_J_rownnz[k]; + const int* colind = d->ten_J_colind + rowadr; + mjtNum* ten_J = d->ten_J + rowadr; + + // iterate forward on nonzero rows i + for (int adr_i=0; adr_i < rownnz; adr_i++) { + int i = colind[adr_i]; + int Madr = m->dof_Madr[i]; + int adr_j = rownnz - 1; + + // iterate backward on ancestors of i, find matching column j + for (int j = i; j >= 0; j = m->dof_parentid[j]) { + // reduce adr_j until column index is no bigger than j + while (colind[adr_j] > j && adr_j >= 0) { + adr_j--; + } + + // found match, update qM + if (colind[adr_j] == j) { + d->qM[Madr++] += armature * ten_J[adr_j] * ten_J[adr_i]; + } + } + } + } + } + TM_END(mjTIMER_POS_INERTIA); +} + + + // composite rigid body inertia algorithm void mj_crb(const mjModel* m, mjData* d) { TM_START; @@ -2321,3 +2377,53 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) { mju_addTo(d->cfrc_int+6*m->body_parentid[j], d->cfrc_int+6*j, 6); } } + + + +// add bias force due to tendon armature +void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc) { + int ntendon = m->ntendon, nv = m->nv, issparse = mj_isSparse(m); + mjtNum* ten_Jdot = NULL; + mj_markStack(d); + + // add bias term due to tendon armature + for (int i=0; i < ntendon; i++) { + mjtNum armature = m->tendon_armature[i]; + + // no armature: skip + if (!armature) { + continue; + } + + // allocate if required + if (!ten_Jdot) { + ten_Jdot = mjSTACKALLOC(d, nv, mjtNum); + } + + // get dense d/dt(tendon Jacobian) for tendon i + mj_tendonDot(m, d, i, ten_Jdot); + + // add bias term: qfrc += ten_J * armature * dot(ten_Jdot, qvel) + mjtNum coef = armature * mju_dot(ten_Jdot, d->qvel, nv); + + if (coef) { + // dense + if (!issparse) { + mju_addToScl(qfrc, d->ten_J + nv*i, coef, nv); + } + + // sparse + else { + int nnz = d->ten_J_rownnz[i]; + int adr = d->ten_J_rowadr[i]; + const int* colind = d->ten_J_colind + adr; + const mjtNum* ten_J = d->ten_J + adr; + for (int j=0; j < nnz; j++) { + qfrc[colind[j]] += coef * ten_J[j]; + } + } + } + } + + mj_freeStack(d); +} diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h index 41d06775..4bc124b0 100644 --- a/src/engine/engine_core_smooth.h +++ b/src/engine/engine_core_smooth.h @@ -51,6 +51,9 @@ MJAPI void mj_transmission(const mjModel* m, mjData* d); // composite rigid body inertia algorithm MJAPI void mj_crb(const mjModel* m, mjData* d); +// add tendon armature to qM +MJAPI void mj_tendonArmature(const mjModel* m, mjData* d); + // sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd (legacy implementation) MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD, mjtNum* qLDiagInv); @@ -99,6 +102,12 @@ MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result); // RNE with complete data: compute cacc, cfrc_ext, cfrc_int MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d); + +//-------------------------- tendon bias ----------------------------------------------------------- + +// add bias force due to tendon armature +MJAPI void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc); + #ifdef __cplusplus } #endif diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c index a61d48a0..d55f857b 100644 --- a/src/engine/engine_forward.c +++ b/src/engine/engine_forward.c @@ -114,8 +114,9 @@ typedef struct mjFwdPositionArgs_ mjFwdPositionArgs; // wrapper for mj_crb and mj_factorM void* mj_inertialThreaded(void* args) { mjFwdPositionArgs* forward_args = (mjFwdPositionArgs*) args; - mj_crb(forward_args->m, forward_args->d); // timed internally (POS_INERTIA) - mj_factorM(forward_args->m, forward_args->d); // timed internally (POS_INERTIA) + mj_crb(forward_args->m, forward_args->d); // timed internally (POS_INERTIA) + mj_tendonArmature(forward_args->m, forward_args->d); // timed internally (POS_INERTIA) + mj_factorM(forward_args->m, forward_args->d); // timed internally (POS_INERTIA) return NULL; } @@ -142,9 +143,10 @@ void mj_fwdPosition(const mjModel* m, mjData* d) { // no threadpool: inertia and collision on main thread if (!d->threadpool) { - mj_crb(m, d); // timed internally (POS_INERTIA) - mj_factorM(m, d); // timed internally (POS_INERTIA) - mj_collision(m, d); // timed internally (POS_COLLISION) + mj_crb(m, d); // timed internally (POS_INERTIA) + mj_tendonArmature(m, d); // timed internally (POS_INERTIA) + mj_factorM(m, d); // timed internally (POS_INERTIA) + mj_collision(m, d); // timed internally (POS_COLLISION) } // have threadpool: inertia and collision on separate threads @@ -222,6 +224,9 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) { // compute qfrc_bias with abbreviated RNE (without acceleration) mj_rne(m, d, 0, d->qfrc_bias); + // add bias force due to tendon armature + mj_tendonBias(m, d, d->qfrc_bias); + TM_END(mjTIMER_VELOCITY); } diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c index f372947a..c4042401 100644 --- a/src/engine/engine_inverse.c +++ b/src/engine/engine_inverse.c @@ -45,8 +45,9 @@ void mj_invPosition(const mjModel* m, mjData* d) { mj_tendon(m, d); TM_END(mjTIMER_POS_KINEMATICS); - mj_crb(m, d); // timed internally (POS_INERTIA) - mj_factorM(m, d); // timed internally (POS_INERTIA) + mj_crb(m, d); // timed internally (POS_INERTIA) + mj_tendonArmature(m, d); // timed internally (POS_INERTIA) + mj_factorM(m, d); // timed internally (POS_INERTIA) mj_collision(m, d); // timed internally (POS_COLLISION) diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c index 73f8919e..eece506c 100644 --- a/src/engine/engine_setconst.c +++ b/src/engine/engine_setconst.c @@ -102,10 +102,11 @@ static void set0(mjModel* m, mjData* d) { memset(m->flex_rigid, 0, m->nflex); // run remaining computations + mj_tendon(m, d); mj_crb(m, d); + mj_tendonArmature(m, d); mj_factorM(m, d); mj_flex(m, d); - mj_tendon(m, d); mj_transmission(m, d); // restore flex rigidity diff --git a/src/user/user_model.cc b/src/user/user_model.cc index e49c6112..2b5dc102 100644 --- a/src/user/user_model.cc +++ b/src/user/user_model.cc @@ -2769,31 +2769,6 @@ void mjCModel::CopyTree(mjModel* m) { } } m->nB = nB; - - // set dof_simplenum - int count = 0; - for (int i=nv-1; i >= 0; i--) { - if (m->body_simple[m->dof_bodyid[i]]) { - count++; // increment counter - } else { - count = 0; // reset - } - m->dof_simplenum[i] = count; - } - - // compute nC - int nOD = 0; // number of off-diagonal (non-simple) parent dofs - for (int i=0; i < nv; i++) { - // count ancestor (off-diagonal) dofs - if (!m->dof_simplenum[i]) { - int j = i; - while (j >= 0) { - if (j != i) nOD++; - j = m->dof_parentid[j]; - } - } - } - m->nC = nC = nOD + nv; } // copy plugin data @@ -3564,6 +3539,54 @@ void mjCModel::CopyObjects(mjModel* m) { +// finalize simple bodies/dofs including tendon information +void mjCModel::FinalizeSimple(mjModel* m) { + // demote bodies affected by inertia-bearing tendon to non-simple + for (int i=0; i < ntendon; i++) { + if (m->tendon_armature[i] == 0) { + continue; + } + int adr = m->tendon_adr[i]; + int num = m->tendon_num[i]; + for (int j=adr; j < adr+num; j++) { + int objid = m->wrap_objid[j]; + if (m->wrap_type[j] == mjWRAP_SITE) { + m->body_simple[m->site_bodyid[objid]] = 0; + } + if (m->wrap_type[j] == mjWRAP_CYLINDER || m->wrap_type[j] == mjWRAP_SPHERE) { + m->body_simple[m->geom_bodyid[objid]] = 0; + } + } + } + + // set dof_simplenum + int count = 0; + for (int i=nv-1; i >= 0; i--) { + if (m->body_simple[m->dof_bodyid[i]]) { + count++; // increment counter + } else { + count = 0; // reset + } + m->dof_simplenum[i] = count; + } + + // compute nC + int nOD = 0; // number of off-diagonal (non-simple) parent dofs + for (int i=0; i < nv; i++) { + // count ancestor (off-diagonal) dofs + if (!m->dof_simplenum[i]) { + int j = i; + while (j >= 0) { + if (j != i) nOD++; + j = m->dof_parentid[j]; + } + } + } + m->nC = nC = nOD + nv; +} + + + // save the current state template void mjCModel::SaveState(const std::string& state_name, const T* qpos, const T* qvel, const T* act, @@ -4509,6 +4532,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) { // copy objects outsite kinematic tree (including keyframes) CopyObjects(m); + // finalize simple bodies/dofs including tendon information + FinalizeSimple(m); + // compute non-zeros in actuator_moment m->nJmom = nJmom = CountNJmom(m); diff --git a/src/user/user_model.h b/src/user/user_model.h index c55384bf..e8e3cc8c 100644 --- a/src/user/user_model.h +++ b/src/user/user_model.h @@ -349,6 +349,7 @@ class mjCModel : public mjCModel_, private mjSpec { void CopyPaths(mjModel*); // copy paths, compute path addresses void CopyObjects(mjModel*); // copy objects outside kinematic tree void CopyTree(mjModel*); // copy objects inside kinematic tree + void FinalizeSimple(mjModel* m); // finalize simple bodies/dofs including tendon information void CopyPlugins(mjModel*); // copy plugin data int CountNJmom(const mjModel* m); // compute number of non-zeros in actuator_moment matrix diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc index 8f24a99a..1d383922 100644 --- a/test/engine/engine_core_smooth_test.cc +++ b/test/engine/engine_core_smooth_test.cc @@ -17,6 +17,7 @@ #include "src/engine/engine_core_smooth.h" #include "src/engine/engine_util_sparse.h" +#include #include #include #include @@ -213,6 +214,183 @@ TEST_F(CoreSmoothTest, TendonJdot) { } } +static const char* const kTen_offtree = + "engine/testdata/core_smooth/ten_armature_offtree.xml"; + +TEST_F(CoreSmoothTest, TendonArmature) { + const std::string xml_path = GetTestDataFilePath(kTen_offtree); + char error[1024]; + mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)); + ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error; + int nv = m->nv; + mjData* d = mj_makeData(m); + + for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) { + m->opt.jacobian = sparsity; + + mj_forward(m, d); + + // get full M, includes both CRB and tendon inertia + vector M(nv*nv); + mj_fullM(m, M.data(), d->qM); + + // put only CRB inertia in M2 + mj_crb(m, d); + vector M2(nv*nv); + mj_fullM(m, M2.data(), d->qM); + + vector ten_J(nv); // tendon Jacobian + vector ten_M(nv*nv); // tendon inertia + + // add tendon inertias to M2 using outer product + for (int j=0; j < m->ntendon; j++) { + // get tendon Jacobian + if (mj_isSparse(m)) { + int rowadr = d->ten_J_rowadr[j]; + int* rownnz = d->ten_J_rownnz + j; + int zero = 0; + mju_sparse2dense(ten_J.data(), d->ten_J + rowadr, 1, nv, + rownnz, &zero, d->ten_J_colind + rowadr); + } else { + mju_copy(ten_J.data(), d->ten_J + j*nv, nv); + } + + // get tendon inertia only, using outer product + mju_mulMatMat(ten_M.data(), ten_J.data(), ten_J.data(), nv, 1, nv); + mju_scl(ten_M.data(), ten_M.data(), m->tendon_armature[j], nv * nv); + + // manually add values, at nonzeros only + for (int i=0; i < nv*nv; i++) { + if (M[i]) M2[i] += ten_M[i]; + } + } + + // expect matrices to match + EXPECT_THAT(M2, Pointwise(DoubleNear(1e-9), M)); + } + + mj_deleteData(d); + mj_deleteModel(m); +} + +static const char* const kTen_i0 = + "engine/testdata/core_smooth/ten_armature_0.xml"; +static const char* const kTen_i1 = + "engine/testdata/core_smooth/ten_armature_1.xml"; +static const char* const kTen_i2 = + "engine/testdata/core_smooth/ten_armature_2.xml"; +static const char* const kTen_i3 = + "engine/testdata/core_smooth/ten_armature_3.xml"; +static const char* const kTen_i4 = + "engine/testdata/core_smooth/ten_armature_4.xml"; + +TEST_F(CoreSmoothTest, TendonArmatureConservesEnergy) { + for (const char* local_path : {kTen_i0, kTen_i1, kTen_i2, kTen_i3, kTen_i4}) { + const std::string xml_path = GetTestDataFilePath(local_path); + char error[1024]; + mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)); + ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error; + mjData* d = mj_makeData(m); + + for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) { + m->opt.jacobian = sparsity; + + mj_resetDataKeyframe(m, d, 0); + mj_forward(m, d); + + double energy_0 = d->energy[0] + d->energy[1]; + + double eps = std::max(energy_0, 1.0) * 1e-5; + while (d->time < 1) { + mj_step(m, d); + double energy_t = d->energy[0] + d->energy[1]; + EXPECT_THAT(energy_t, DoubleNear(energy_0, eps)); + } + } + mj_deleteData(d); + mj_deleteModel(m); + } +} + +TEST_F(CoreSmoothTest, TendonArmatureConservesMomentum) { + const std::string xml_path = GetTestDataFilePath(kTen_i4); + char error[1024]; + mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)); + ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error; + mjData* d = mj_makeData(m); + + for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) { + m->opt.jacobian = sparsity; + + mj_resetData(m, d); + mj_forward(m, d); + + // this model contains subtreelinvel and subtreeangmom sensors + vector sdata_0 = AsVector(d->sensordata, m->nsensordata); + EXPECT_THAT(sdata_0, Each(Eq(0))); + + double eps = 1e-5; + while (d->time < 1) { + mj_step(m, d); + vector sdata_t = AsVector(d->sensordata, m->nsensordata); + EXPECT_THAT(sdata_t, Pointwise(DoubleNear(eps), sdata_0)); + } + + // momentum is conserved nontrivially (velocities are non-zero) + EXPECT_GT(d->energy[1], 0); + } + + mj_deleteData(d); + mj_deleteModel(m); +} + +static const char* const kTen_i0_equiv = + "engine/testdata/core_smooth/ten_armature_0_equiv.xml"; +static const char* const kTen_i1_equiv = + "engine/testdata/core_smooth/ten_armature_1_equiv.xml"; + +TEST_F(CoreSmoothTest, TendonInertiaEquivalent) { + for (const char* lpath : {kTen_i0, kTen_i1}) { + // load tendon model + const std::string path = GetTestDataFilePath(lpath); + char error[1024]; + mjModel* m = mj_loadXML(path.c_str(), nullptr, error, sizeof(error)); + ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error; + int gid = mj_name2id(m, mjOBJ_GEOM, "query"); + mjData* d = mj_makeData(m); + + if (m->nkey) mj_resetDataKeyframe(m, d, 0); + + // load equivalent model + const char* lpath_e = lpath == kTen_i0 ? kTen_i0_equiv : kTen_i1_equiv; + const std::string path_e = GetTestDataFilePath(lpath_e); + mjModel* m_e = mj_loadXML(path_e.c_str(), nullptr, error, sizeof(error)); + ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error; + int gid_e = mj_name2id(m_e, mjOBJ_GEOM, "query"); + mjData* d_e = mj_makeData(m_e); + + if (m_e->nkey) mj_resetDataKeyframe(m_e, d_e, 0); + + // the equality constraint in kTen_i1_equiv reduces precision + double eps = lpath == kTen_i0 ? 1e-6 : 1e-3; + + while (d->time < 1) { + mj_step(m, d); + vector xpos = AsVector(d->geom_xpos + 3*gid, 3); + + mj_step(m_e, d_e); + vector xpos_e = AsVector(d_e->geom_xpos + 3*gid_e, 3); + + EXPECT_THAT(xpos, Pointwise(DoubleNear(eps), xpos_e)); + } + mj_deleteData(d); + mj_deleteModel(m); + mj_deleteData(d_e); + mj_deleteModel(m_e); + } +} + + // --------------------------- connect constraint ------------------------------ // test that bodies hanging on connects lead to expected force sensor readings diff --git a/test/engine/testdata/core_smooth/ten_armature_0.xml b/test/engine/testdata/core_smooth/ten_armature_0.xml new file mode 100644 index 00000000..b27e2438 --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_0.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_0_compare.xml b/test/engine/testdata/core_smooth/ten_armature_0_compare.xml new file mode 100644 index 00000000..d2875a6e --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_0_compare.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml b/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml new file mode 100644 index 00000000..0da57dfb --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_1.xml b/test/engine/testdata/core_smooth/ten_armature_1.xml new file mode 100644 index 00000000..35b48b38 --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_1.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_1_compare.xml b/test/engine/testdata/core_smooth/ten_armature_1_compare.xml new file mode 100644 index 00000000..31f2a02f --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_1_compare.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml b/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml new file mode 100644 index 00000000..dcf62b56 --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_2.xml b/test/engine/testdata/core_smooth/ten_armature_2.xml new file mode 100644 index 00000000..9313d875 --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_2.xml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_3.xml b/test/engine/testdata/core_smooth/ten_armature_3.xml new file mode 100644 index 00000000..afaec4e9 --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_3.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_4.xml b/test/engine/testdata/core_smooth/ten_armature_4.xml new file mode 100644 index 00000000..232c4094 --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_4.xml @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/engine/testdata/core_smooth/ten_armature_offtree.xml b/test/engine/testdata/core_smooth/ten_armature_offtree.xml new file mode 100644 index 00000000..46865eac --- /dev/null +++ b/test/engine/testdata/core_smooth/ten_armature_offtree.xml @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +