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Remove cloth and rope composites and deprecate loop.

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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
This commit is contained in:
Alessio Quaglino
2023-09-25 03:37:42 -07:00
committed by Copybara-Service
parent cbb07a4c32
commit d3d46e16a4
14 changed files with 5709 additions and 448 deletions
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doc/changelog.rst
+14 -10
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@@ -84,35 +84,39 @@ General
: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>``.
11. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
11. Removed the :at:`rope` and :at:`cloth` composite objects.
**Migration:** Users should use the :at:`cable` and :at:`shell` elasticity plugins.
12. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
the exact formula rather than with Euler integration.
12. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
13. 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.
13. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
14. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
14. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
15. 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.
15. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
16. 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.
16. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
17. 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.
17. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
18. 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>`__ .
18. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
19. 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
^^^^^^^^^^^^^^^
19. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
20. 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
^^^^^^^^^
20. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
21. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.
model/composite/cloth.xml
-35
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@@ -1,35 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Cloth">
<include file="scene.xml"/>
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
<size memory="10M"/>
<worldbody>
<body name="B3_5" pos="0 0 1">
<freejoint/>
<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001"/>
<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/composite/loop.xml
-32
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@@ -1,32 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Loop">
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<size memory="2M"/>
<worldbody>
<body name="B0" pos="0 0 1">
<freejoint/>
<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/flag/flag.xml → model/plugin/elasticity/flag.xml
+19 -8
View File
@@ -23,22 +23,33 @@
-->
<statistic center=".4 0 .8" extent="1.3"/>
<option wind="5 5 0" density="10">
<flag constraint="disable"/>
<option wind="5 5 0" density="10" solver="CG" tolerance="1e-6">
</option>
<extension>
<plugin plugin="mujoco.elasticity.shell"/>
</extension>
<worldbody>
<geom name="floor" type="plane" size="0 0 .1"/>
<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<body name="B0_0" pos="0 0 1">
<composite type="cloth" count="9 19 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001" stiffness=".1"/>
<body pos="0 0 1">
<composite type="particle" count="9 19 1" spacing="0.05" flatinertia="0.01">
<skin texcoord="true" inflate="0.005" subgrid="4"/>
<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1"/>
<tendon kind="main" stiffness="100" damping=".001"/>
<tendon kind="shear" stiffness="100" damping=".001"/>
<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1" group="4"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="damping" value="0.001"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e6"/>
</plugin>
</composite>
</body>
</worldbody>
<equality>
<connect body1="B0_0_0" anchor="0 0 0" solref="0.0002 1"/>
</equality>
</mujoco>
model/plugin/elasticity/plate.xml
+1 -1
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@@ -41,7 +41,7 @@
<composite type="particle" count="16 16 1" spacing="0.05" offset="0 0 1">
<geom size=".02" rgba=".8 .2 .1 1" group="4" density="1000"
condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
<skin inflate="0.01" rgba=".4 0 .3 1" subgrid="4"/>
<skin inflate="0.0001" rgba=".4 0 .3 1" subgrid="1"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="damping" value="0.001"/>
src/user/user_composite.cc
+74 -314
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@@ -293,16 +293,25 @@ bool mjCComposite::Make(mjCModel* model, mjCBody* body, char* error, int error_s
return MakeGrid(model, body, error, error_sz);
case mjCOMPTYPE_ROPE:
mju_warning("The \"rope\" composite type is deprecated. Please use \"cable\" instead.");
[[fallthrough]];
return comperr(error,
"The \"rope\" composite type is deprecated. Please use "
"\"cable\" instead.",
error_sz);
case mjCOMPTYPE_LOOP:
mju_warning(
"The \"loop\" composite type is deprecated. Please use \"cable\" "
"instead.");
return MakeRope(model, body, error, error_sz);
case mjCOMPTYPE_CABLE:
return MakeCable(model, body, error, error_sz);
case mjCOMPTYPE_CLOTH:
return MakeCloth(model, body, error, error_sz);
return comperr(error,
"The \"cloth\" composite type is deprecated. Please use "
"\"shell\" instead.",
error_sz);
case mjCOMPTYPE_BOX:
case mjCOMPTYPE_CYLINDER:
@@ -531,10 +540,18 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
}
}
if (skin) {
if (skin && dim==3) {
MakeSkin3(model);
}
if (skin && dim==2) {
if (skinsubgrid>0) {
MakeSkin2Subgrid(model, skininflate);
} else {
MakeSkin2(model, skininflate);
}
}
return true;
}
@@ -1019,273 +1036,6 @@ mjCBody* mjCComposite::AddRopeBody(mjCModel* model, mjCBody* body, int ix, int i
// make 2d cloth
bool mjCComposite::MakeCloth(mjCModel* model, mjCBody* body, char* error, int error_sz) {
// check dim
if (dim!=2) {
return comperr(error, "Cloth must be two-dimensional", error_sz);
}
// check root body name prefix
char txt[200];
mju::sprintf_arr(txt, "%sB", prefix.c_str());
if (std::strncmp(txt, body->name.substr(0, strlen(txt)).c_str(), mju::sizeof_arr(txt))) {
mju::strcat_arr(txt, " must be the beginning of root body name");
return comperr(error, txt, error_sz);
}
// read origin coordinate from root body
mju::strcpy_arr(txt, body->name.substr(strlen(txt)).c_str());
int ox = -1, oy = -1;
char c;
if (sscanf(txt, "%d%c%d", &ox, &c, &oy)!=3 || c!='_') {
return comperr(error, "Root body name must contain X_Y coordinates", error_sz);
}
if (ox<0 || ox>=count[0] || oy<0 || oy>=count[1]) {
return comperr(error, "Root body coordinates out of range", error_sz);
}
// add origin
AddClothBody(model, body, ox, oy, ox, oy);
// add row: both directions
for (int i=-2; i<=2; i+=2) {
// init at origin
int ix = ox;
// process row to end
mjCBody* pbodyx = body;
while (1) {
// candidate neighbor
int ix1 = ix;
if (i==0) {
ix1 = mjMIN(count[0]-1, ix+1);
} else if (i==2) {
ix1 = mjMAX(0, ix-1);
}
// regular column
if (i!=-2) {
// stop if same
if (ix1==ix) {
break;
}
// add body, assign counter
pbodyx = AddClothBody(model, pbodyx, ix, oy, ix1, oy);
ix = ix1;
}
// add column: regular or center
for (int j=1; j<=3; j+=2) {
// init at row
int iy = oy;
// process column to end
mjCBody* pbodyy = pbodyx;
while (1) {
// candidate neighbor
int iy1;
if (j==1) {
iy1 = mjMIN(count[1]-1, iy+1);
} else {
iy1 = mjMAX(0, iy-1);
}
// stop if same
if (iy1==iy) {
break;
}
// add body, assign counter
pbodyy = AddClothBody(model, pbodyy, ix, iy, ix, iy1);
iy = iy1;
}
}
// center column added
if (i==-2) {
break;
}
}
}
// add main tendons
for (int iy=0; iy<count[1]; iy++) {
if (iy!=oy) {
for (int ix=0; ix<count[0]-1; ix++) {
char txt1[100], txt2[100];
// recover site names
mju::sprintf_arr(txt1, "%sS%d_%d", prefix.c_str(), ix, iy);
mju::sprintf_arr(txt2, "%sS%d_%d", prefix.c_str(), ix+1, iy);
// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->def = model->defaults[0];
mju::sprintf_arr(txt, "%sT%d_%d", prefix.c_str(), ix, iy);
ten->name = txt;
ten->WrapSite(txt1);
ten->WrapSite(txt2);
// add equality constraint
mjCEquality* eq = model->AddEquality(def + mjCOMPKIND_TENDON);
eq->def = model->defaults[0];
eq->type = mjEQ_TENDON;
eq->name1 = ten->name;
}
}
}
// shear for 2D
if (add[mjCOMPKIND_SHEAR]) {
MakeShear(model);
}
// skin
if (skin) {
if (skinsubgrid>0) {
MakeSkin2Subgrid(model, skininflate);
} else {
MakeSkin2(model, skininflate);
}
}
return true;
}
// add child body for cloth
mjCBody* mjCComposite::AddClothBody(mjCModel* model, mjCBody* body,
int ix, int iy, int ix1, int iy1) {
char txt[100];
bool isroot = (ix==ix1 && iy==iy1);
double dx = spacing*(ix1-ix);
double dy = spacing*(iy1-iy);
// add child if not root
if (!isroot) {
body = body->AddBody();
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix1, iy1);
body->name = txt;
mjuu_setvec(body->pos, dx, dy, 0);
}
// add geom, alternating rotations
mjCGeom* geom = body->AddGeom(def);
geom->def = body->def;
mju::sprintf_arr(txt, "%sG%d_%d", prefix.c_str(), ix1, iy1);
geom->name = txt;
mjuu_setvec(geom->pos, 0, 0, 0);
if ((ix1+iy1)%2) {
mjuu_setvec(geom->quat, sqrt(0.5), sqrt(0.5), 0, 0);
} else {
mjuu_setvec(geom->quat, 0.5, 0.5, 0.5, 0.5);
}
// make inertia flat
if (flatinertia>0) {
// set body mass = geom mass
body->mass = mjuu_defined(geom->_mass) ? geom->_mass :
geom->density * geom->GetVolume();
// set body i-frame
mjuu_setvec(body->ipos, 0, 0, 0);
mjuu_setvec(body->iquat, 1, 0, 0, 0);
// desired equivalent inertia box
double size[3] = {0.5*spacing, 0.5*spacing, 0.5*spacing*flatinertia};
// convert to inertia
body->inertia[0] = body->mass*(size[1]*size[1]+size[2]*size[2])/3;
body->inertia[1] = body->mass*(size[0]*size[0]+size[2]*size[2])/3;
body->inertia[2] = body->mass*(size[0]*size[0]+size[1]*size[1])/3;
body->MakeInertialExplicit();
}
// add site
mjCSite* site = body->AddSite(def);
site->def = body->def;
site->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d_%d", prefix.c_str(), ix1, iy1);
site->name = txt;
mjuu_setvec(site->pos, 0, 0, 0);
mjuu_setvec(site->quat, 1, 0, 0, 0);
// root: no joints
if (isroot) {
return body;
}
// add main joint
for (int i=0; i<2; i++) {
// add joint
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix1, iy1);
jnt->name = txt;
jnt->type = mjJNT_HINGE;
mjuu_setvec(jnt->pos, -dx, -dy, 0);
// set universal axis depending on parent direction
mjuu_setvec(jnt->axis, 0, 0, 0);
if (ix!=ix1) {
jnt->axis[i+1] = 1;
} else {
jnt->axis[2*i] = 1;
}
}
// add twist joint
if (add[mjCOMPKIND_TWIST]) {
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_TWIST][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJT%d_%d", prefix.c_str(), ix1, iy1);
jnt->name = txt;
jnt->type = mjJNT_HINGE;
mjuu_setvec(jnt->pos, -dx, -dy, 0);
if (ix!=ix1) {
mjuu_setvec(jnt->axis, 1, 0, 0);
} else {
mjuu_setvec(jnt->axis, 0, 1, 0);
}
// add constraint
mjCEquality* eq = model->AddEquality(def + mjCOMPKIND_TWIST);
eq->def = model->defaults[0];
eq->type = mjEQ_JOINT;
eq->name1 = jnt->name;
}
// add stretch joint
if (add[mjCOMPKIND_STRETCH]) {
// add joint
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_STRETCH][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJS%d_%d", prefix.c_str(), ix1, iy1);
jnt->name = txt;
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, -dx, -dy, 0);
if (ix!=ix1) {
mjuu_setvec(jnt->axis, 1, 0, 0);
} else {
mjuu_setvec(jnt->axis, 0, 1, 0);
}
// add constraint
mjCEquality* eq = model->AddEquality(def + mjCOMPKIND_STRETCH);
eq->def = model->defaults[0];
eq->type = mjEQ_JOINT;
eq->name1 = jnt->name;
}
return body;
}
// project from box to other shape
void mjCComposite::BoxProject(double* pos) {
// determine sizes
@@ -1490,6 +1240,46 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
skin->inflate = inflate;
skin->group = skingroup;
// copy skin from existing mesh
if (type==mjCOMPTYPE_PARTICLE && username.empty()) {
std::vector<int> face;
mjXUtil::String2Vector(userface, face);
int nvert = uservert.size()/3;
for (int j=0; j<2; j++) {
for (int i=0; i<nvert; i++) {
skin->vert.push_back(0);
skin->vert.push_back(0);
skin->vert.push_back(0);
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
skin->bodyname.push_back(txt);
skin->bindpos.push_back(0);
skin->bindpos.push_back(0);
skin->bindpos.push_back(0);
skin->bindquat.push_back(1);
skin->bindquat.push_back(0);
skin->bindquat.push_back(0);
skin->bindquat.push_back(0);
vector<int> vertid;
vector<float> vertweight;
vertid.push_back(j*nvert+i);
vertweight.push_back(1);
skin->vertid.push_back(vertid);
skin->vertweight.push_back(vertweight);
}
for (int i=0; i<face.size()/3; i++) {
skin->face.push_back(j*nvert+face[3*i]-1);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 1 : 2)]-1);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 2 : 1)]-1);
}
}
return;
}
// populate mesh: two sides
for (int i=0; i<2; i++) {
for (int ix=0; ix<count[0]; ix++) {
@@ -1564,7 +1354,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
}
// couple with bones
if (type==mjCOMPTYPE_CLOTH || type==mjCOMPTYPE_GRID) {
if (type==mjCOMPTYPE_PARTICLE || type==mjCOMPTYPE_GRID) {
MakeClothBones(model, skin);
} else if (type==mjCOMPTYPE_CABLE) {
MakeCableBones(model, skin);
@@ -1582,7 +1372,11 @@ void mjCComposite::MakeClothBones(mjCModel* model, mjCSkin* skin) {
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// body name
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
if (type==mjCOMPTYPE_GRID) {
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
} else {
mju::sprintf_arr(txt, "%sB%d_%d_0", prefix.c_str(), ix, iy);
}
// bind pose
skin->bodyname.push_back(txt);
@@ -1616,7 +1410,11 @@ void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjCSkin* skin) {
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// body name
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
if (type==mjCOMPTYPE_GRID) {
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
} else {
mju::sprintf_arr(txt, "%sB%d_%d_0", prefix.c_str(), ix, iy);
}
// bind pose
skin->bodyname.push_back(txt);
@@ -2121,7 +1919,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
skin->face.push_back(NN + iy+1 + (C0-1)*C1);
}
if (type==mjCOMPTYPE_CLOTH || type==mjCOMPTYPE_GRID) {
if (type==mjCOMPTYPE_PARTICLE || type==mjCOMPTYPE_GRID) {
MakeClothBonesSubgrid(model, skin);
} else if (type==mjCOMPTYPE_CABLE) {
MakeCableBonesSubgrid(model, skin);
@@ -2197,46 +1995,8 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
skin->inflate = skininflate;
skin->group = skingroup;
// copy skin from existing mesh
if (type==mjCOMPTYPE_PARTICLE && username.empty()) {
std::vector<int> face;
mjXUtil::String2Vector(userface, face);
int nvert = uservert.size()/3;
for (int j=0; j<2; j++) {
for (int i=0; i<nvert; i++) {
skin->vert.push_back(0);
skin->vert.push_back(0);
skin->vert.push_back(0);
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
skin->bodyname.push_back(txt);
skin->bindpos.push_back(0);
skin->bindpos.push_back(0);
skin->bindpos.push_back(0);
skin->bindquat.push_back(1);
skin->bindquat.push_back(0);
skin->bindquat.push_back(0);
skin->bindquat.push_back(0);
vector<int> vertid;
vector<float> vertweight;
vertid.push_back(j*nvert+i);
vertweight.push_back(1);
skin->vertid.push_back(vertid);
skin->vertweight.push_back(vertweight);
}
for (int i=0; i<face.size()/3; i++) {
skin->face.push_back(j*nvert+face[3*i]-1);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 1 : 2)]-1);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 2 : 1)]-1);
}
}
}
// box
else if (type==mjCOMPTYPE_BOX || type==mjCOMPTYPE_PARTICLE) {
if (type==mjCOMPTYPE_BOX || type==mjCOMPTYPE_PARTICLE) {
// z-faces
MakeSkin3Box(skin, count[0], count[1], 1, vcnt, "%sB%d_%d_0");
fmt = "%sB%d_%d_" + string(cnt2);
src/user/user_composite.h
-2
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@@ -74,7 +74,6 @@ class mjCComposite {
bool MakeGrid(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeRope(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeCloth(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeBox(mjCModel* model, mjCBody* body, char* error, int error_sz);
void MakeShear(mjCModel* model);
@@ -138,7 +137,6 @@ class mjCComposite {
private:
mjCBody* AddRopeBody(mjCModel* model, mjCBody* body, int ix, int ix1);
mjCBody* AddClothBody(mjCModel* model, mjCBody* body, int ix, int iy, int ix1, int iy1);
mjCBody* AddCableBody(mjCModel* model, mjCBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
};
test/benchmark/engine_core_smooth_benchmark_test.cc
+2 -2
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@@ -25,7 +25,7 @@ namespace mujoco {
namespace {
// number of steps to roll out before benhmarking
static const int kNumWarmupSteps = 500;
static const int kNumWarmupSteps = 200;
// number of steps to benchmark
static const int kNumBenchmarkSteps = 50;
@@ -102,7 +102,7 @@ void solveM_baseline(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y) {
// ----------------------------- benchmark ------------------------------------
static void BM_solveLD(benchmark::State& state, bool new_function) {
static mjModel* m = LoadModelFromPath("composite/cloth.xml");
static mjModel* m = LoadModelFromPath("plugin/elasticity/coil.xml");
mjData* d = mj_makeData(m);
// warm-up rollout to get a typical state
test/benchmark/engine_util_sparse_benchmark_test.cc
+1 -1
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@@ -348,7 +348,7 @@ void ABSL_ATTRIBUTE_NOINLINE mulMatVecSparse_8(mjtNum* res,
// ----------------------------- benchmark ------------------------------------
static void BM_MatVecSparse(benchmark::State& state, int unroll) {
static mjModel* m = LoadModelFromPath("composite/cloth.xml");
static mjModel* m = LoadModelFromPath("plugin/elasticity/flag.xml");
mjData* d = mj_makeData(m);
// warm-up rollout to get a typical state
test/benchmark/parse_benchmark_test.cc
+5 -4
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@@ -48,13 +48,14 @@ static void run_parse_benchmark(const std::string xml_path, benchmark::State& st
// separately in CPU profiles (and don't get replaced with raw calls to
// run_parse_benchmark).
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCloth(benchmark::State& state) {
run_parse_benchmark(GetModelPath("composite/cloth.xml"), state);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCable(benchmark::State& state) {
run_parse_benchmark(GetModelPath("plugin/elasticity/flag.xml"), state);
}
BENCHMARK(BM_ParseCloth);
BENCHMARK(BM_ParseCable);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlag(benchmark::State& state) {
run_parse_benchmark(GetModelPath("flag/flag.xml"), state);
run_parse_benchmark(GetModelPath("../test/benchmark/testdata/flag.xml"),
state);
}
BENCHMARK(BM_ParseFlag);
test/benchmark/step_benchmark_test.cc
+5 -4
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@@ -79,12 +79,12 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
// separately in CPU profiles (and don't get replaced with raw calls to
// run_step_benchmark).
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCloth(benchmark::State& state) {
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCable(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = LoadModelFromPath("composite/cloth.xml");
static mjModel* model = LoadModelFromPath("plugin/elasticity/flag.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepCloth);
BENCHMARK(BM_StepCable);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepParticle(benchmark::State& state) {
MujocoErrorTestGuard guard;
@@ -95,7 +95,8 @@ BENCHMARK(BM_StepParticle);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepFlag(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = LoadModelFromPath("flag/flag.xml");
static mjModel* model =
LoadModelFromPath("../test/benchmark/testdata/flag.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepFlag);
test/benchmark/testdata/flag.xml
Vendored
+5582
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File diff suppressed because one or more lines are too long
test/user/user_composite_test.cc
-28
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@@ -57,34 +57,6 @@ TEST_F(UserCompositeTest, MultipleJointsNotAllowedUnlessParticle) {
HasSubstr("Only particles are allowed to have multiple joints"));
}
TEST_F(UserCompositeTest, StretchAndTwistAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B10">
<freejoint/>
<composite type="rope" count="21 1 1" spacing="0.04">
<joint kind="main" damping="0.005"/>
<joint kind="stretch" damping="0.005"/>
<joint kind="twist" damping="0.005"/>
<geom type="capsule" size=".01 .015"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull());
EXPECT_THAT(warning, HasSubstr("deprecated"));
mj_deleteModel(m);
}
TEST_F(UserCompositeTest, SpacingGreaterThanGeometry) {
static constexpr char xml[] = R"(
<mujoco>
test/xml/xml_native_writer_test.cc
+6 -7
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@@ -795,12 +795,10 @@ TEST_F(XMLWriterTest, WritesSkin) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B0_0" pos="0 0 0">
<composite type="cloth" count="2 2 1" spacing="0.05">
<skin texcoord="true"/>
<geom type="ellipsoid" size="1 1 1"/>
</composite>
</body>
<composite type="grid" count="2 2 1" spacing="0.05">
<skin texcoord="true"/>
<geom size=".01"/>
</composite>
</worldbody>
</mujoco>
)";
@@ -1085,7 +1083,8 @@ TEST_F(PluginTest, WriteReadCompare) {
if (!mtemp) {
// if failing because assets are missing, accept the test
ASSERT_THAT(error.data(), HasSubstr("file")) << error.data();
ASSERT_THAT(error.data(), HasSubstr("file"))
<< error.data() << " from " << xml.c_str();
} else {
// for a particularly difficult example, relax the tolerance
mjtNum tol =