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Add shell plugin.

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- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges

PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
This commit is contained in:
Alessio Quaglino
2023-09-20 08:59:26 -07:00
committed by Copybara-Service
parent c54aba15f9
commit dd5a7115cf
12 changed files with 2171 additions and 32 deletions
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doc/XMLreference.rst
+1 -1
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@@ -3346,7 +3346,7 @@ coordinates results in compiler error. See :ref:`CComposite` in the modeling gui
.. _body-composite-vertex:
:at:`vertex`: :at-val:`real(3*nvert), optional`
Vertex 3D positions in global coordinates (cable only).
Vertex 3D positions in global coordinates (cable and shell).
.. _body-composite-face:
doc/changelog.rst
+34 -23
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@@ -31,27 +31,38 @@ New features
3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine
pipeline.
.. youtube:: ra2bTiZHGlw
:align: right
:width: 240px
4. Added capability to initialize :ref:`composite<body-composite>` particles with arbitrary positions.
5. Added `shell <https://github.com/deepmind/mujoco/blob/main/plugin/elasticity/shell.cc>`_ passive force plugin:
- Collisions use spheres located at mesh vertices.
- Stretching as tendon constraints and bending using a constant precomputed Hessian (cotangent operator).
General
^^^^^^^
.. admonition:: Breaking API changes
:class: attention
4. Removed the macros ``mjMARKSTACK`` and ``mjFREESTACK``.
6. Removed the macros ``mjMARKSTACK`` and ``mjFREESTACK``.
**Migration:** These macros have been replaced by new functions :ref:`mj_markStack` and
:ref:`mj_freeStack`. These functions manage the :ref:`mjData stack<siStack>` in a fully encapsulated way (i.e.,
without introducing a local variable at the call site).
5. Renamed ``mj_stackAlloc`` to :ref:`mj_stackAllocNum`. The new function :ref:`mj_stackAllocByte` allocates an
7. Renamed ``mj_stackAlloc`` to :ref:`mj_stackAllocNum`. The new function :ref:`mj_stackAllocByte` allocates an
arbitrary number of bytes and has an additional argument for specifying the alignment of the returned pointer.
**Migration:** The functionality for allocating ``mjtNum`` arrays is now available via :ref:`mj_stackAllocNum`.
6. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``,
8. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``,
and ``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
7. Changed :ref:`mjData.solver<mjData>`, the array used to collect solver diagnostic information.
9. Changed :ref:`mjData.solver<mjData>`, the array used to collect solver diagnostic information.
This array of :ref:`mjSolverStat` structs is now of length ``mjNISLAND * mjNSOLVER``, interpreted as as a matrix.
Each row of length ``mjNSOLVER`` contains separate solver statistics for each constraint island.
If the solver does not use islands, only row 0 is filled.
@@ -62,46 +73,46 @@ General
- Renamed ``mjData.solver_iter`` to ``solver_niter``. Both this member and ``mjData.solver_nnz`` are now integer
vectors of length ``mjNISLAND``.
8. Removed ``mjOption.collision`` and the associated ``option/collision`` attribute.
10. Removed ``mjOption.collision`` and the associated ``option/collision`` attribute.
**Migration:**
**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>``.
- 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.
10. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
11. 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
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
13. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
12. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
14. 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.
13. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
15. 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.
14. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
16. 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.
15. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
17. 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>`__ .
16. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
18. 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
^^^^^^^^^^^^^^^
17. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
19. 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
^^^^^^^^^
18. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
20. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.