Auto-generate 3D mesh from convex OBJ if dim=3 in flex.
This requires the user to explicitly specify an origin. PiperOrigin-RevId: 712483526 Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
65048d6b8f
commit
ee6f4837f3
@@ -3632,6 +3632,13 @@ saving the XML:
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These attributes are directly passed through to the automatically-generated :ref:`flex<deformable-flex>` object and
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have the same meaning.
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.. _body-flexcomp-origin:
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:at:`origin`: :at-val:`real(3), "0 0 0"`
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The origin of the flexcomp. Used for generating a volumetric mesh from an OBJ surface mesh. Each surface triangle is
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connected to the origin to create a tetrahedron, so the resulting volumetric mesh is guaranteed to be well-formed
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only for convex shapes.
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.. _flexcomp-contact:
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:el-prefix:`flexcomp/` |-| **contact** (*)
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@@ -445,6 +445,8 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`axisangle<body-flexcomp-axisangle>` | :ref:`xyaxes<body-flexcomp-xyaxes>` | :ref:`zaxis<body-flexcomp-zaxis>` | :ref:`euler<body-flexcomp-euler>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`origin<body-flexcomp-origin>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flexcomp |br| |_2| |L| | | .. table:: |
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| :ref:`edge | ? | :class: mjcf-attributes |
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@@ -0,0 +1,617 @@
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####
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#
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# OBJ File Generated by Meshlab
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#
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####
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# Object cap.obj
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#
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f 89 25 90
|
||||
f 91 90 44
|
||||
f 43 92 94
|
||||
f 92 45 93
|
||||
f 94 93 23
|
||||
f 24 95 97
|
||||
f 95 46 96
|
||||
f 97 96 47
|
||||
f 44 98 100
|
||||
f 98 28 99
|
||||
f 100 99 48
|
||||
f 47 101 103
|
||||
f 101 49 102
|
||||
f 103 102 26
|
||||
f 27 104 106
|
||||
f 104 50 105
|
||||
f 106 105 51
|
||||
f 48 107 109
|
||||
f 107 31 108
|
||||
f 109 108 52
|
||||
f 51 110 112
|
||||
f 110 53 111
|
||||
f 112 111 29
|
||||
f 30 113 115
|
||||
f 113 54 114
|
||||
f 115 114 55
|
||||
f 52 116 118
|
||||
f 116 34 117
|
||||
f 118 117 56
|
||||
f 55 119 121
|
||||
f 119 57 120
|
||||
f 121 120 32
|
||||
f 33 122 124
|
||||
f 122 58 123
|
||||
f 124 123 59
|
||||
f 56 125 127
|
||||
f 125 37 126
|
||||
f 127 126 38
|
||||
f 59 128 130
|
||||
f 128 60 129
|
||||
f 130 129 35
|
||||
f 36 131 133
|
||||
f 131 61 132
|
||||
f 133 132 40
|
||||
f 8 134 135
|
||||
f 134 20 64
|
||||
f 135 64 22
|
||||
f 20 136 62
|
||||
f 136 9 137
|
||||
f 62 137 21
|
||||
f 22 63 139
|
||||
f 63 21 138
|
||||
f 139 138 10
|
||||
f 10 140 141
|
||||
f 140 23 67
|
||||
f 141 67 25
|
||||
f 23 142 65
|
||||
f 142 11 143
|
||||
f 65 143 24
|
||||
f 25 66 145
|
||||
f 66 24 144
|
||||
f 145 144 12
|
||||
f 12 146 147
|
||||
f 146 26 70
|
||||
f 147 70 28
|
||||
f 26 148 68
|
||||
f 148 13 149
|
||||
f 68 149 27
|
||||
f 28 69 151
|
||||
f 69 27 150
|
||||
f 151 150 14
|
||||
f 14 152 153
|
||||
f 152 29 73
|
||||
f 153 73 31
|
||||
f 29 154 71
|
||||
f 154 15 155
|
||||
f 71 155 30
|
||||
f 31 72 157
|
||||
f 72 30 156
|
||||
f 157 156 16
|
||||
f 16 158 159
|
||||
f 158 32 76
|
||||
f 159 76 34
|
||||
f 32 160 74
|
||||
f 160 17 161
|
||||
f 74 161 33
|
||||
f 34 75 163
|
||||
f 75 33 162
|
||||
f 163 162 18
|
||||
f 18 164 165
|
||||
f 164 35 79
|
||||
f 165 79 37
|
||||
f 35 166 77
|
||||
f 166 19 167
|
||||
f 77 167 36
|
||||
f 37 78 169
|
||||
f 78 36 168
|
||||
f 169 168 8
|
||||
f 1 170 171
|
||||
f 170 38 82
|
||||
f 171 82 39
|
||||
f 38 172 80
|
||||
f 172 8 135
|
||||
f 80 135 22
|
||||
f 39 81 173
|
||||
f 81 22 139
|
||||
f 173 139 10
|
||||
f 8 174 134
|
||||
f 174 40 85
|
||||
f 134 85 20
|
||||
f 40 175 83
|
||||
f 175 2 176
|
||||
f 83 176 41
|
||||
f 20 84 136
|
||||
f 84 41 177
|
||||
f 136 177 9
|
||||
f 10 138 178
|
||||
f 138 21 88
|
||||
f 178 88 43
|
||||
f 21 137 86
|
||||
f 137 9 179
|
||||
f 86 179 42
|
||||
f 43 87 181
|
||||
f 87 42 180
|
||||
f 181 180 3
|
||||
f 1 171 182
|
||||
f 171 39 91
|
||||
f 182 91 44
|
||||
f 39 173 89
|
||||
f 173 10 141
|
||||
f 89 141 25
|
||||
f 44 90 183
|
||||
f 90 25 145
|
||||
f 183 145 12
|
||||
f 10 178 140
|
||||
f 178 43 94
|
||||
f 140 94 23
|
||||
f 43 181 92
|
||||
f 181 3 184
|
||||
f 92 184 45
|
||||
f 23 93 142
|
||||
f 93 45 185
|
||||
f 142 185 11
|
||||
f 12 144 186
|
||||
f 144 24 97
|
||||
f 186 97 47
|
||||
f 24 143 95
|
||||
f 143 11 187
|
||||
f 95 187 46
|
||||
f 47 96 189
|
||||
f 96 46 188
|
||||
f 189 188 4
|
||||
f 1 182 190
|
||||
f 182 44 100
|
||||
f 190 100 48
|
||||
f 44 183 98
|
||||
f 183 12 147
|
||||
f 98 147 28
|
||||
f 48 99 191
|
||||
f 99 28 151
|
||||
f 191 151 14
|
||||
f 12 186 146
|
||||
f 186 47 103
|
||||
f 146 103 26
|
||||
f 47 189 101
|
||||
f 189 4 192
|
||||
f 101 192 49
|
||||
f 26 102 148
|
||||
f 102 49 193
|
||||
f 148 193 13
|
||||
f 14 150 194
|
||||
f 150 27 106
|
||||
f 194 106 51
|
||||
f 27 149 104
|
||||
f 149 13 195
|
||||
f 104 195 50
|
||||
f 51 105 197
|
||||
f 105 50 196
|
||||
f 197 196 5
|
||||
f 1 190 198
|
||||
f 190 48 109
|
||||
f 198 109 52
|
||||
f 48 191 107
|
||||
f 191 14 153
|
||||
f 107 153 31
|
||||
f 52 108 199
|
||||
f 108 31 157
|
||||
f 199 157 16
|
||||
f 14 194 152
|
||||
f 194 51 112
|
||||
f 152 112 29
|
||||
f 51 197 110
|
||||
f 197 5 200
|
||||
f 110 200 53
|
||||
f 29 111 154
|
||||
f 111 53 201
|
||||
f 154 201 15
|
||||
f 16 156 202
|
||||
f 156 30 115
|
||||
f 202 115 55
|
||||
f 30 155 113
|
||||
f 155 15 203
|
||||
f 113 203 54
|
||||
f 55 114 205
|
||||
f 114 54 204
|
||||
f 205 204 6
|
||||
f 1 198 206
|
||||
f 198 52 118
|
||||
f 206 118 56
|
||||
f 52 199 116
|
||||
f 199 16 159
|
||||
f 116 159 34
|
||||
f 56 117 207
|
||||
f 117 34 163
|
||||
f 207 163 18
|
||||
f 16 202 158
|
||||
f 202 55 121
|
||||
f 158 121 32
|
||||
f 55 205 119
|
||||
f 205 6 208
|
||||
f 119 208 57
|
||||
f 32 120 160
|
||||
f 120 57 209
|
||||
f 160 209 17
|
||||
f 18 162 210
|
||||
f 162 33 124
|
||||
f 210 124 59
|
||||
f 33 161 122
|
||||
f 161 17 211
|
||||
f 122 211 58
|
||||
f 59 123 213
|
||||
f 123 58 212
|
||||
f 213 212 7
|
||||
f 1 206 170
|
||||
f 206 56 127
|
||||
f 170 127 38
|
||||
f 56 207 125
|
||||
f 207 18 165
|
||||
f 125 165 37
|
||||
f 38 126 172
|
||||
f 126 37 169
|
||||
f 172 169 8
|
||||
f 18 210 164
|
||||
f 210 59 130
|
||||
f 164 130 35
|
||||
f 59 213 128
|
||||
f 213 7 214
|
||||
f 128 214 60
|
||||
f 35 129 166
|
||||
f 129 60 215
|
||||
f 166 215 19
|
||||
f 8 168 174
|
||||
f 168 36 133
|
||||
f 174 133 40
|
||||
f 36 167 131
|
||||
f 167 19 216
|
||||
f 131 216 61
|
||||
f 40 132 175
|
||||
f 132 61 217
|
||||
f 175 217 2
|
||||
# 384 faces, 0 coords texture
|
||||
|
||||
# End of File
|
||||
@@ -0,0 +1,66 @@
|
||||
<!-- Copyright 2024 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="Gripper">
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option cone="elliptic" impratio="10" integrator="implicitfast"/>
|
||||
|
||||
<worldbody>
|
||||
<body name="hand" pos="0 0 .37">
|
||||
<joint name="lift" type="slide" range="0 1"/>
|
||||
<geom type="box" size=".2 .1 .05" rgba=".2 .2 .2 1"/>
|
||||
<body name="right_gripper">
|
||||
<joint name="right" type="slide" axis="-1 0 0"/>
|
||||
<geom type="box" size=".02 .1 .15" pos=".18 0 -.2" rgba=".2 .2 .2 1"/>
|
||||
<flexcomp type="mesh" file="cap.obj" pos=".16 0 -.25" dim="3" euler="0 -90 0"
|
||||
origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="left">
|
||||
<edge equality="true"/>
|
||||
<contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
|
||||
<pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
|
||||
187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
|
||||
</flexcomp>
|
||||
</body>
|
||||
<body name="left_gripper">
|
||||
<joint name="left" type="slide" axis="1 0 0"/>
|
||||
<geom type="box" size=".02 .1 .15" pos="-.18 0 -.2" rgba=".2 .2 .2 1"/>
|
||||
<flexcomp type="mesh" file="cap.obj" pos="-.16 0 -.25" dim="3" euler="0 90 0"
|
||||
origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="right">
|
||||
<edge equality="true"/>
|
||||
<contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
|
||||
<pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
|
||||
187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
|
||||
</flexcomp>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<equality>
|
||||
<joint joint1="right" joint2="left"/>
|
||||
</equality>
|
||||
|
||||
<tendon>
|
||||
<fixed name="grasp">
|
||||
<joint joint="right" coef="1"/>
|
||||
<joint joint="left" coef="1"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
|
||||
<actuator>
|
||||
<position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="0 1"/>
|
||||
<position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -940,8 +940,8 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
|
||||
}
|
||||
|
||||
// check dim
|
||||
if (def.spec.flex->dim != 2) {
|
||||
return comperr(error, "Flex dim must be 2 in for mesh", error_sz);
|
||||
if (def.spec.flex->dim < 2) {
|
||||
return comperr(error, "Flex dim must be at least 2 for mesh", error_sz);
|
||||
}
|
||||
|
||||
// load resource
|
||||
@@ -990,15 +990,42 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
|
||||
mesh.RemoveRepeated();
|
||||
}
|
||||
|
||||
// copy faces
|
||||
element = mesh.Face();
|
||||
|
||||
// copy vertices, convert from float to double
|
||||
point = vector<double> (mesh.nvert()*3);
|
||||
for (int i=0; i < mesh.nvert()*3; i++) {
|
||||
point[i] = (double) mesh.Vert(i);
|
||||
}
|
||||
|
||||
// copy faces or create 3D mesh
|
||||
if (def.spec.flex->dim == 2) {
|
||||
element = mesh.Face();
|
||||
} else {
|
||||
point.insert(point.begin() + 0, origin[0]);
|
||||
point.insert(point.begin() + 1, origin[1]);
|
||||
point.insert(point.begin() + 2, origin[2]);
|
||||
for (int i=0; i < mesh.Face().size(); i+=3) {
|
||||
// only add tetrahedra with positive volume
|
||||
int tet[3] = {mesh.Face()[i+0]+1,
|
||||
mesh.Face()[i+1]+1,
|
||||
mesh.Face()[i+2]+1};
|
||||
double edge1[3], edge2[3], edge3[3];
|
||||
for (int i=0; i < 3; i++) {
|
||||
edge1[i] = point[3*tet[0]+i] - origin[i];
|
||||
edge2[i] = point[3*tet[1]+i] - origin[i];
|
||||
edge3[i] = point[3*tet[2]+i] - origin[i];
|
||||
}
|
||||
double normal[3];
|
||||
mjuu_crossvec(normal, edge1, edge2);
|
||||
if (mjuu_dot3(normal, edge3) < mjMINVAL) {
|
||||
continue;
|
||||
}
|
||||
element.push_back(0);
|
||||
element.push_back(tet[0]);
|
||||
element.push_back(tet[1]);
|
||||
element.push_back(tet[2]);
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@@ -68,6 +68,7 @@ class mjCFlexcomp {
|
||||
int count[3]; // grid count in each dimension
|
||||
double spacing[3]; // spacing between grid elements
|
||||
double scale[3]; // scaling for mesh and direct
|
||||
double origin[3]; // origin for generating a 3D mesh from a convex 2D mesh
|
||||
double mass; // total mass of auto-generated bodies
|
||||
double inertiabox; // size of inertia box for each body
|
||||
bool equality; // create edge equality constraint
|
||||
|
||||
@@ -311,10 +311,10 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
|
||||
{"config", "*", "2", "key", "value"},
|
||||
{">"},
|
||||
{">"},
|
||||
{"flexcomp", "*", "24", "name", "type", "group", "dim",
|
||||
{"flexcomp", "*", "25", "name", "type", "group", "dim",
|
||||
"count", "spacing", "radius", "rigid", "mass", "inertiabox",
|
||||
"scale", "file", "point", "element", "texcoord", "material", "rgba",
|
||||
"flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler"},
|
||||
"flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "origin"},
|
||||
{"<"},
|
||||
{"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
|
||||
{"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
|
||||
@@ -2643,6 +2643,10 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
|
||||
ReadAttrInt(elem, "dim", &dflex.dim);
|
||||
ReadAttr(elem, "radius", 1, &dflex.radius, text);
|
||||
ReadAttrInt(elem, "group", &dflex.group);
|
||||
if (!ReadAttr(elem, "origin", 3, fcomp.origin, text) &&
|
||||
fcomp.type == mjFCOMPTYPE_MESH && dflex.dim == 3) {
|
||||
throw mjXError(elem, "origin must be specified for mesh flexcomps if dim=3");
|
||||
}
|
||||
|
||||
// pose
|
||||
ReadAttr(elem, "pos", 3, fcomp.pos, text);
|
||||
|
||||
+16
-15
@@ -231,21 +231,22 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
|
||||
#undef X
|
||||
if (maxdif > 0) return maxdif;
|
||||
|
||||
// compare arrays, apart from bvh-related ones, as those are sensitive to
|
||||
// numerical differences when meshes are perfectly symmetric.
|
||||
#define X(type, name, nr, nc) \
|
||||
if (strncmp(#name, "bvh_", 4)) { \
|
||||
for (int r = 0; r < m1->nr; r++) { \
|
||||
for (int c = 0; c < nc; c++) { \
|
||||
dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]); \
|
||||
if (dif > maxdif) { \
|
||||
maxdif = dif; \
|
||||
field = #name; \
|
||||
field += " row: " + std::to_string(r); \
|
||||
field += " col: " + std::to_string(c); \
|
||||
} \
|
||||
} \
|
||||
} \
|
||||
// compare arrays, apart from bvh-related ones (which includes flex_vert0), as
|
||||
// those are sensitive to numerical differences when meshes are perfectly
|
||||
// symmetric.
|
||||
#define X(type, name, nr, nc) \
|
||||
if (strncmp(#name, "bvh_", 4) && strncmp(#name, "flex_vert0", 4)) { \
|
||||
for (int r = 0; r < m1->nr; r++) { \
|
||||
for (int c = 0; c < nc; c++) { \
|
||||
dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]); \
|
||||
if (dif > maxdif) { \
|
||||
maxdif = dif; \
|
||||
field = #name; \
|
||||
field += " row: " + std::to_string(r); \
|
||||
field += " col: " + std::to_string(c); \
|
||||
} \
|
||||
} \
|
||||
} \
|
||||
} // NOLINT
|
||||
MJMODEL_POINTERS
|
||||
#undef X
|
||||
|
||||
Reference in New Issue
Block a user