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PiperOrigin-RevId: 816099854
Change-Id: I6302a97c2f5d4594a08ebf4bc53a180b804360e6
This commit is contained in:
Taylor Howell
2025-10-07 09:48:21 +01:00
committed by Saran Tunyasuvunakool
parent 414888b716
commit fd9b989bf8
193 changed files with 92473 additions and 1599 deletions
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mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py
Vendored
+3 -1
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@@ -21,7 +21,6 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import Model as Model
from mujoco.mjx.third_party.mujoco_warp._src.types import Data as Data
# isort: on
from ._src import test_util as test_util # used by viewer and testspeed, not meant for public consumption
from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import collision as collision
from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import nxn_broadphase as nxn_broadphase
from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import sap_broadphase as sap_broadphase
@@ -68,6 +67,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.solver import solve as solve
from mujoco.mjx.third_party.mujoco_warp._src.support import contact_force as contact_force
from mujoco.mjx.third_party.mujoco_warp._src.support import mul_m as mul_m
from mujoco.mjx.third_party.mujoco_warp._src.support import xfrc_accumulate as xfrc_accumulate
from mujoco.mjx.third_party.mujoco_warp._src.types import BiasType as BiasType
from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseFilter as BroadphaseFilter
from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseType as BroadphaseType
from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType as ConeType
@@ -76,6 +76,8 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import Contact as Contact
from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit as DisableBit
from mujoco.mjx.third_party.mujoco_warp._src.types import DynType as DynType
from mujoco.mjx.third_party.mujoco_warp._src.types import EnableBit as EnableBit
from mujoco.mjx.third_party.mujoco_warp._src.types import GainType as GainType
from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType as GeomType
from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType as IntegratorType
from mujoco.mjx.third_party.mujoco_warp._src.types import JointType as JointType
from mujoco.mjx.third_party.mujoco_warp._src.types import Option as Option
mjx/mujoco/mjx/third_party/mujoco_warp/_src/test_util.py → mjx/mujoco/mjx/third_party/mujoco_warp/_src/benchmark.py
Vendored
+3 -171
View File
@@ -13,7 +13,7 @@
# limitations under the License.
# ==============================================================================
"""Utilities for testing."""
"""Utilities for benchmarking MuJoCo Warp."""
import importlib
import os
@@ -23,183 +23,15 @@ from typing import Callable, Optional, Tuple
import mujoco
import numpy as np
import warp as wp
from etils import epath
from mujoco.mjx.third_party.mujoco_warp._src import forward
from mujoco.mjx.third_party.mujoco_warp._src import io
from mujoco.mjx.third_party.mujoco_warp._src import warp_util
from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseType
from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
from mujoco.mjx.third_party.mujoco_warp._src.types import Data
from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
from mujoco.mjx.third_party.mujoco_warp._src.types import EnableBit
from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType
from mujoco.mjx.third_party.mujoco_warp._src.types import Model
from mujoco.mjx.third_party.mujoco_warp._src.types import SolverType
from mujoco.mjx.third_party.mujoco_warp._src.util_misc import halton
def fixture(
fname: Optional[str] = None,
xml: Optional[str] = None,
keyframe: int = -1,
actuation: bool = True,
contact: bool = True,
constraint: bool = True,
equality: bool = True,
spring: bool = True,
damper: bool = True,
gravity: bool = True,
clampctrl: bool = True,
filterparent: bool = True,
qpos0: bool = False,
kick: bool = False,
energy: bool = False,
eulerdamp: Optional[bool] = None,
cone: Optional[ConeType] = None,
integrator: Optional[IntegratorType] = None,
solver: Optional[SolverType] = None,
iterations: Optional[int] = None,
ls_iterations: Optional[int] = None,
ls_parallel: Optional[bool] = None,
sparse: Optional[bool] = None,
broadphase: Optional[BroadphaseType] = None,
disableflags: Optional[int] = None,
enableflags: Optional[int] = None,
applied: bool = False,
nstep: int = 3,
seed: int = 42,
nworld: int = None,
nconmax: int = None,
njmax: int = None,
):
np.random.seed(seed)
if fname is not None:
path = epath.resource_path("mjx") / "third_party/mujoco_warp" / "test_data" / fname
mjm = mujoco.MjModel.from_xml_path(path.as_posix())
elif xml is not None:
mjm = mujoco.MjModel.from_xml_string(xml)
else:
raise ValueError("either fname or xml must be provided")
if not actuation:
mjm.opt.disableflags |= DisableBit.ACTUATION
if not contact:
mjm.opt.disableflags |= DisableBit.CONTACT
if not constraint:
mjm.opt.disableflags |= DisableBit.CONSTRAINT
if not equality:
mjm.opt.disableflags |= DisableBit.EQUALITY
if not spring:
mjm.opt.disableflags |= DisableBit.SPRING
if not damper:
mjm.opt.disableflags |= DisableBit.DAMPER
if not gravity:
mjm.opt.disableflags |= DisableBit.GRAVITY
if not clampctrl:
mjm.opt.disableflags |= DisableBit.CLAMPCTRL
if not eulerdamp:
mjm.opt.disableflags |= DisableBit.EULERDAMP
if not filterparent:
mjm.opt.disableflags |= DisableBit.FILTERPARENT
if energy:
mjm.opt.enableflags |= EnableBit.ENERGY
if cone is not None:
mjm.opt.cone = cone
if integrator is not None:
mjm.opt.integrator = integrator
if disableflags is not None:
mjm.opt.disableflags |= disableflags
if enableflags is not None:
mjm.opt.enableflags |= enableflags
if solver is not None:
mjm.opt.solver = solver
if iterations is not None:
mjm.opt.iterations = iterations
if ls_iterations is not None:
mjm.opt.ls_iterations = ls_iterations
if sparse is not None:
if sparse:
mjm.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
else:
mjm.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
mjd = mujoco.MjData(mjm)
if keyframe > -1:
mujoco.mj_resetDataKeyframe(mjm, mjd, keyframe)
elif qpos0:
mjd.qpos[:] = mjm.qpos0
else:
# set random qpos, underlying code should gracefully handle un-normalized quats
mjd.qpos[:] = np.random.random(mjm.nq)
if kick:
# give the system a little kick to ensure we have non-identity rotations
mjd.qvel = np.random.uniform(-0.01, 0.01, mjm.nv)
mjd.ctrl = np.random.uniform(-0.1, 0.1, size=mjm.nu)
if applied:
mjd.qfrc_applied = np.random.uniform(-0.1, 0.1, size=mjm.nv)
mjd.xfrc_applied = np.random.uniform(-0.1, 0.1, size=mjd.xfrc_applied.shape)
if kick or applied:
mujoco.mj_step(mjm, mjd, nstep) # let dynamics get state significantly non-zero
if mjm.nmocap:
mjd.mocap_pos = np.random.random(mjd.mocap_pos.shape)
mocap_quat = np.random.random(mjd.mocap_quat.shape)
mjd.mocap_quat = mocap_quat
mujoco.mj_forward(mjm, mjd)
mjd.qacc_warmstart = mjd.qacc
m = io.put_model(mjm)
if ls_parallel is not None:
m.opt.ls_parallel = ls_parallel
if broadphase is not None:
m.opt.broadphase = broadphase
d = io.put_data(mjm, mjd, nworld=nworld, nconmax=nconmax, njmax=njmax)
return mjm, mjd, m, d
def find_keys(model: mujoco.MjModel, keyname_prefix: str) -> list[int]:
"""Finds keyframes that start with keyname_prefix."""
keys = []
for keyid in range(model.nkey):
name = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_KEY, keyid)
if name.startswith(keyname_prefix):
keys.append(keyid)
return keys
def make_trajectory(model: mujoco.MjModel, keys: list[int]) -> np.ndarray:
"""Make a ctrl trajectory with linear interpolation."""
ctrls = []
prev_ctrl_key = np.zeros(model.nu, dtype=np.float64)
prev_time, time = 0.0, 0.0
for key in keys:
ctrl_key, ctrl_time = model.key_ctrl[key], model.key_time[key]
if not ctrls and ctrl_time != 0.0:
raise ValueError("first keyframe must have time 0.0")
elif ctrls and ctrl_time <= prev_time:
raise ValueError("keyframes must be in time order")
while time < ctrl_time:
frac = (time - prev_time) / (ctrl_time - prev_time)
ctrls.append(prev_ctrl_key * (1 - frac) + ctrl_key * frac)
time += model.opt.timestep
ctrls.append(ctrl_key)
time += model.opt.timestep
prev_ctrl_key = ctrl_key
prev_time = time
return np.array(ctrls)
def _sum(stack1, stack2):
ret = {}
for k in stack1:
@@ -372,10 +204,10 @@ class BenchmarkSuite:
ctrls = None
if self.replay:
keys = find_keys(mjm, self.replay)
keys = io.find_keys(mjm, self.replay)
if not keys:
raise ValueError(f"Key prefix not find: {self.replay}")
ctrls = make_trajectory(mjm, keys)
ctrls = io.make_trajectory(mjm, keys)
mujoco.mj_resetDataKeyframe(mjm, mjd, keys[0])
if mjm.nkey > 0:
mjx/mujoco/mjx/third_party/mujoco_warp/_src/broadphase_test.py
Vendored
+41 -40
View File
@@ -20,16 +20,17 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import BroadphaseFilter
from mujoco.mjx.third_party.mujoco_warp import BroadphaseType
from mujoco.mjx.third_party.mujoco_warp import DisableBit
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp._src import collision_driver
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseFilter
from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseType
def broadphase_caller(m, d):
if m.opt.broadphase == int(BroadphaseType.NXN):
if m.opt.broadphase == BroadphaseType.NXN:
collision_driver.nxn_broadphase(m, d)
else:
collision_driver.sap_broadphase(m, d)
@@ -37,12 +38,12 @@ def broadphase_caller(m, d):
class BroadphaseTest(parameterized.TestCase):
# filter combinations
plane_sphere = BroadphaseFilter.PLANE.value | BroadphaseFilter.SPHERE.value
plane_aabb = BroadphaseFilter.PLANE.value | BroadphaseFilter.AABB.value
plane_obb = BroadphaseFilter.PLANE | BroadphaseFilter.OBB.value
plane_sphere_aabb = plane_sphere | BroadphaseFilter.AABB.value
plane_sphere_obb = plane_sphere | BroadphaseFilter.OBB.value
plane_sphere_aabb_obb = plane_sphere_aabb | BroadphaseFilter.OBB.value
plane_sphere = BroadphaseFilter.PLANE | BroadphaseFilter.SPHERE
plane_aabb = BroadphaseFilter.PLANE | BroadphaseFilter.AABB
plane_obb = BroadphaseFilter.PLANE | BroadphaseFilter.OBB
plane_sphere_aabb = plane_sphere | BroadphaseFilter.AABB
plane_sphere_obb = plane_sphere | BroadphaseFilter.OBB
plane_sphere_aabb_obb = plane_sphere_aabb | BroadphaseFilter.OBB
@parameterized.product(
broadphase=list(BroadphaseType),
@@ -112,7 +113,7 @@ class BroadphaseTest(parameterized.TestCase):
"""
# one world and zero collisions
mjm, _, m, d0 = test_util.fixture(xml=_XML, keyframe=0)
mjm, _, m, d0 = test_data.fixture(xml=_XML, keyframe=0)
m.opt.broadphase = broadphase
m.opt.broadphase_filter = filter
@@ -121,7 +122,7 @@ class BroadphaseTest(parameterized.TestCase):
np.testing.assert_allclose(d0.ncollision.numpy()[0], 0)
# one world and one collision
_, mjd1, _, d1 = test_util.fixture(xml=_XML, keyframe=1)
_, mjd1, _, d1 = test_data.fixture(xml=_XML, keyframe=1)
broadphase_caller(m, d1)
np.testing.assert_allclose(d1.ncollision.numpy()[0], 1)
@@ -129,7 +130,7 @@ class BroadphaseTest(parameterized.TestCase):
np.testing.assert_allclose(d1.collision_pair.numpy()[0][1], 1)
# one world and three collisions
_, mjd2, _, d2 = test_util.fixture(xml=_XML, keyframe=2)
_, mjd2, _, d2 = test_data.fixture(xml=_XML, keyframe=2)
broadphase_caller(m, d2)
ncollision = d2.ncollision.numpy()[0]
@@ -140,7 +141,7 @@ class BroadphaseTest(parameterized.TestCase):
self.assertTrue([d2.collision_pair.numpy()[i][0], d2.collision_pair.numpy()[i][1]] in collision_pairs)
# two worlds and four collisions
d3 = mjwarp.make_data(mjm, nworld=2, nconmax=512, njmax=512)
d3 = mjw.make_data(mjm, nworld=2, nconmax=512, njmax=512)
d3.geom_xpos = wp.array(
np.vstack([np.expand_dims(mjd1.geom_xpos, axis=0), np.expand_dims(mjd2.geom_xpos, axis=0)]),
dtype=wp.vec3,
@@ -162,15 +163,15 @@ class BroadphaseTest(parameterized.TestCase):
self.assertTrue([d3.collision_pair.numpy()[i][0], d3.collision_pair.numpy()[i][1]] in collision_pairs[worldid])
# one world and zero collisions: contype and conaffinity incompatibility
mjm4, _, m4, d4 = test_util.fixture(xml=_XML, keyframe=1)
mjm4, _, m4, d4 = test_data.fixture(xml=_XML, keyframe=1)
mjm4.geom_contype[:3] = 0
m4 = mjwarp.put_model(mjm4)
m4 = mjw.put_model(mjm4)
broadphase_caller(m4, d4)
np.testing.assert_allclose(d4.ncollision.numpy()[0], 0)
# one world and one collision: geomtype ordering
_, _, _, d5 = test_util.fixture(xml=_XML, keyframe=3)
_, _, _, d5 = test_data.fixture(xml=_XML, keyframe=3)
broadphase_caller(m, d5)
np.testing.assert_allclose(d5.ncollision.numpy()[0], 1)
np.testing.assert_allclose(d5.collision_pair.numpy()[0][0], 3)
@@ -195,12 +196,12 @@ class BroadphaseTest(parameterized.TestCase):
</keyframe>
</mujoco>
"""
_, _, m, d = test_util.fixture(xml=_MJCF, keyframe=0)
_, _, m, d = test_data.fixture(xml=_MJCF, keyframe=0)
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], ncollision)
@parameterized.parameters(True, False)
def test_broadphase_filterparent(self, filterparent):
@parameterized.parameters((0, 0), (DisableBit.FILTERPARENT, 1))
def test_broadphase_filterparent(self, disablebit, expected_collisions):
_MJCF = """
<mujoco>
<worldbody>
@@ -218,16 +219,16 @@ class BroadphaseTest(parameterized.TestCase):
</keyframe>
</mujoco>
"""
_, _, m, d = test_util.fixture(xml=_MJCF, filterparent=filterparent, keyframe=0)
_, _, m, d = test_data.fixture(xml=_MJCF, keyframe=0, overrides={"opt.disableflags": disablebit})
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 0 if filterparent else 1)
self.assertEqual(d.ncollision.numpy()[0], expected_collisions)
def test_broadphase_filter(self):
plane = BroadphaseFilter.PLANE.value
sphere = BroadphaseFilter.SPHERE.value
aabb = BroadphaseFilter.AABB.value
obb = BroadphaseFilter.OBB.value
plane = BroadphaseFilter.PLANE
sphere = BroadphaseFilter.SPHERE
aabb = BroadphaseFilter.AABB
obb = BroadphaseFilter.OBB
plane_sphere = plane | sphere
plane_aabb = plane | aabb
plane_obb = plane | obb
@@ -260,68 +261,68 @@ class BroadphaseTest(parameterized.TestCase):
</mujoco>
"""
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=0)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=0)
m.opt.broadphase_filter = plane_sphere
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 0)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=0)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=0)
m.opt.broadphase_filter = plane_aabb
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 0)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=0)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=0)
m.opt.broadphase_filter = plane_obb
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 0)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
m.opt.broadphase_filter = plane_sphere
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 1)
# note: collision_driver._plane_filter checks bounding sphere
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
m.opt.broadphase_filter = plane
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 2)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
m.opt.broadphase_filter = plane_sphere
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 1)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=1)
m.opt.broadphase_filter = plane_obb
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 1)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=2)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=2)
m.opt.broadphase_filter = plane_sphere
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 1)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=2)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=2)
m.opt.broadphase_filter = plane_aabb
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 0)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=2)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=2)
m.opt.broadphase_filter = plane_obb
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 0)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=3)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=3)
m.opt.broadphase_filter = plane_sphere
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 1)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=3)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=3)
m.opt.broadphase_filter = plane_aabb
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 1)
_, _, m, d = test_util.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=3)
_, _, m, d = test_data.fixture(xml=_PLANE_CAPSULE_CAPSULE, keyframe=3)
m.opt.broadphase_filter = plane_obb
broadphase_caller(m, d)
self.assertEqual(d.ncollision.numpy()[0], 0)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py
Vendored
+43 -45
View File
@@ -43,33 +43,33 @@ mat3c = wp.types.matrix(shape=(MULTI_CONTACT_COUNT, 3), dtype=float)
mat63 = wp.types.matrix(shape=(6, 3), dtype=float)
_CONVEX_COLLISION_PAIRS = [
(GeomType.HFIELD.value, GeomType.SPHERE.value),
(GeomType.HFIELD.value, GeomType.CAPSULE.value),
(GeomType.HFIELD.value, GeomType.ELLIPSOID.value),
(GeomType.HFIELD.value, GeomType.CYLINDER.value),
(GeomType.HFIELD.value, GeomType.BOX.value),
(GeomType.HFIELD.value, GeomType.MESH.value),
(GeomType.SPHERE.value, GeomType.ELLIPSOID.value),
(GeomType.SPHERE.value, GeomType.MESH.value),
(GeomType.CAPSULE.value, GeomType.ELLIPSOID.value),
(GeomType.CAPSULE.value, GeomType.CYLINDER.value),
(GeomType.CAPSULE.value, GeomType.MESH.value),
(GeomType.ELLIPSOID.value, GeomType.ELLIPSOID.value),
(GeomType.ELLIPSOID.value, GeomType.CYLINDER.value),
(GeomType.ELLIPSOID.value, GeomType.BOX.value),
(GeomType.ELLIPSOID.value, GeomType.MESH.value),
(GeomType.CYLINDER.value, GeomType.CYLINDER.value),
(GeomType.CYLINDER.value, GeomType.BOX.value),
(GeomType.CYLINDER.value, GeomType.MESH.value),
(GeomType.BOX.value, GeomType.MESH.value),
(GeomType.MESH.value, GeomType.MESH.value),
(GeomType.HFIELD, GeomType.SPHERE),
(GeomType.HFIELD, GeomType.CAPSULE),
(GeomType.HFIELD, GeomType.ELLIPSOID),
(GeomType.HFIELD, GeomType.CYLINDER),
(GeomType.HFIELD, GeomType.BOX),
(GeomType.HFIELD, GeomType.MESH),
(GeomType.SPHERE, GeomType.ELLIPSOID),
(GeomType.SPHERE, GeomType.MESH),
(GeomType.CAPSULE, GeomType.ELLIPSOID),
(GeomType.CAPSULE, GeomType.CYLINDER),
(GeomType.CAPSULE, GeomType.MESH),
(GeomType.ELLIPSOID, GeomType.ELLIPSOID),
(GeomType.ELLIPSOID, GeomType.CYLINDER),
(GeomType.ELLIPSOID, GeomType.BOX),
(GeomType.ELLIPSOID, GeomType.MESH),
(GeomType.CYLINDER, GeomType.CYLINDER),
(GeomType.CYLINDER, GeomType.BOX),
(GeomType.CYLINDER, GeomType.MESH),
(GeomType.BOX, GeomType.MESH),
(GeomType.MESH, GeomType.MESH),
]
def _check_convex_collision_pairs():
prev_idx = -1
for pair in _CONVEX_COLLISION_PAIRS:
idx = upper_trid_index(len(GeomType), pair[0], pair[1])
idx = upper_trid_index(len(GeomType), pair[0].value, pair[1].value)
if pair[1] < pair[0] or idx <= prev_idx:
return False
prev_idx = idx
@@ -84,8 +84,7 @@ def ccd_kernel_builder(
legacy_gjk: bool,
geomtype1: int,
geomtype2: int,
gjk_iterations: int,
epa_iterations: int,
ccd_iterations: int,
epa_exact_neg_distance: bool,
depth_extension: float,
is_hfield: bool,
@@ -152,7 +151,7 @@ def ccd_kernel_builder(
# TODO(kbayes): remove legacy GJK once multicontact can be enabled
if wp.static(legacy_gjk):
simplex, normal = gjk_legacy(
gjk_iterations,
ccd_iterations,
geom1,
geom2,
geomtype1,
@@ -160,14 +159,14 @@ def ccd_kernel_builder(
)
depth, normal = epa_legacy(
epa_iterations, geom1, geom2, geomtype1, geomtype2, depth_extension, epa_exact_neg_distance, simplex, normal
ccd_iterations, geom1, geom2, geomtype1, geomtype2, depth_extension, epa_exact_neg_distance, simplex, normal
)
dist = -depth
if dist >= 0.0 or depth < -depth_extension:
return 0
sphere = int(GeomType.SPHERE.value)
ellipsoid = int(GeomType.ELLIPSOID.value)
sphere = GeomType.SPHERE
ellipsoid = GeomType.ELLIPSOID
g1 = geoms[0]
g2 = geoms[1]
if geom_type[g1] == sphere or geom_type[g1] == ellipsoid or geom_type[g2] == sphere or geom_type[g2] == ellipsoid:
@@ -177,12 +176,13 @@ def ccd_kernel_builder(
frame = make_frame(normal)
else:
points = mat3c()
geom1.margin = margin
geom2.margin = margin
dist, ncontact, witness1, witness2 = ccd(
False,
False, # ignored for box-box, multiccd always on
opt_ccd_tolerance[worldid],
0.0,
gjk_iterations,
epa_iterations,
ccd_iterations,
geom1,
geom2,
geomtype1,
@@ -389,13 +389,13 @@ def ccd_kernel_builder(
geomtype1,
geom1_dataid,
geom_size[worldid, g1],
mesh_vertadr[geom1_dataid],
mesh_vertnum[geom1_dataid],
mesh_vertadr,
mesh_vertnum,
mesh_vert,
mesh_graphadr[geom1_dataid],
mesh_graphadr,
mesh_graph,
mesh_polynum[geom1_dataid],
mesh_polyadr[geom1_dataid],
mesh_polynum,
mesh_polyadr,
mesh_polynormal,
mesh_polyvertadr,
mesh_polyvertnum,
@@ -412,13 +412,13 @@ def ccd_kernel_builder(
geomtype2,
geom2_dataid,
geom_size[worldid, g2],
mesh_vertadr[geom2_dataid],
mesh_vertnum[geom2_dataid],
mesh_vertadr,
mesh_vertnum,
mesh_vert,
mesh_graphadr[geom2_dataid],
mesh_graphadr,
mesh_graph,
mesh_polynum[geom2_dataid],
mesh_polyadr[geom2_dataid],
mesh_polynum,
mesh_polyadr,
mesh_polynormal,
mesh_polyvertadr,
mesh_polyvertnum,
@@ -633,13 +633,11 @@ def convex_narrowphase(m: Model, d: Data):
computations for non-existent pair types.
"""
for geom_pair in _CONVEX_COLLISION_PAIRS:
g1 = geom_pair[0]
g2 = geom_pair[1]
g1 = geom_pair[0].value
g2 = geom_pair[1].value
if m.geom_pair_type_count[upper_trid_index(len(GeomType), g1, g2)]:
wp.launch(
ccd_kernel_builder(
m.opt.legacy_gjk, g1, g2, m.opt.gjk_iterations, m.opt.epa_iterations, True, 1e9, g1 == int(GeomType.HFIELD.value)
),
ccd_kernel_builder(m.opt.legacy_gjk, g1, g2, m.opt.ccd_iterations, True, 1e9, g1 == GeomType.HFIELD),
dim=d.nconmax,
inputs=[
m.opt.ccd_tolerance,
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py
Vendored
+7 -6
View File
@@ -233,6 +233,7 @@ def _obb_filter(
return True
@cache_kernel
def _broadphase_filter(opt_broadphase_filter: int):
@wp.func
def func(
@@ -267,16 +268,16 @@ def _broadphase_filter(opt_broadphase_filter: int):
xmat2 = geom_xmat_in[worldid, geom2]
if rbound1 == 0.0 or rbound2 == 0.0:
if wp.static(opt_broadphase_filter & int(BroadphaseFilter.PLANE.value)):
if wp.static(opt_broadphase_filter & BroadphaseFilter.PLANE):
return _plane_filter(rbound1, rbound2, margin1, margin2, xpos1, xpos2, xmat1, xmat2)
else:
if wp.static(opt_broadphase_filter & int(BroadphaseFilter.SPHERE.value)):
if wp.static(opt_broadphase_filter & BroadphaseFilter.SPHERE):
if not _sphere_filter(rbound1, rbound2, margin1, margin2, xpos1, xpos2):
return False
if wp.static(opt_broadphase_filter & int(BroadphaseFilter.AABB.value)):
if wp.static(opt_broadphase_filter & BroadphaseFilter.AABB):
if not _aabb_filter(center1, center2, size1, size2, margin1, margin2, xpos1, xpos2, xmat1, xmat2):
return False
if wp.static(opt_broadphase_filter & int(BroadphaseFilter.OBB.value)):
if wp.static(opt_broadphase_filter & BroadphaseFilter.OBB):
if not _obb_filter(center1, center2, size1, size2, margin1, margin2, xpos1, xpos2, xmat1, xmat2):
return False
@@ -533,7 +534,7 @@ def sap_broadphase(m: Model, d: Data):
],
)
if m.opt.broadphase == int(BroadphaseType.SAP_TILE):
if m.opt.broadphase == BroadphaseType.SAP_TILE:
wp.launch_tiled(
kernel=_segmented_sort(m.ngeom),
dim=(d.nworld),
@@ -715,7 +716,7 @@ def collision(m: Model, d: Data):
if d.nconmax == 0 or m.opt.disableflags & (DisableBit.CONSTRAINT | DisableBit.CONTACT):
return
if m.opt.broadphase == int(BroadphaseType.NXN):
if m.opt.broadphase == BroadphaseType.NXN:
nxn_broadphase(m, d)
else:
sap_broadphase(m, d)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver_test.py
Vendored
+37 -67
View File
@@ -16,33 +16,16 @@
import mujoco
import numpy as np
import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import BroadphaseType
from mujoco.mjx.third_party.mujoco_warp import DisableBit
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp.test_data.collision_sdf.utils import register_sdf_plugins
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src import types
from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import VolumeData
from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import sample_volume_sdf
@wp.kernel
def sample_sdf_kernel(
# In:
points: wp.array(dtype=wp.vec3),
volume_data: VolumeData,
# Out:
results_out: wp.array(dtype=float),
):
"""Kernel to sample SDF values at given points using Warp volume."""
tid = wp.tid()
point = points[tid]
sdf_value = sample_volume_sdf(point, volume_data)
results_out[tid] = sdf_value
_TOLERANCE = 5e-5
@@ -501,16 +484,16 @@ class CollisionTest(parameterized.TestCase):
@classmethod
def setUpClass(cls):
register_sdf_plugins(mjwarp)
register_sdf_plugins(mjw)
@parameterized.parameters(_SDF_SDF.keys())
def test_sdf_collision(self, fixture):
"""Tests collisions with different geometries."""
mjm, mjd, m, d = test_util.fixture(xml=self._SDF_SDF[fixture], qpos0=True)
mjm, mjd, m, d = test_data.fixture(xml=self._SDF_SDF[fixture])
mujoco.mj_collision(mjm, mjd)
mjwarp.collision(m, d)
mjw.collision(m, d)
for i in range(min(mjd.ncon, d.ncon.numpy()[0])):
actual_dist = mjd.contact.dist[i]
actual_pos = mjd.contact.pos[i]
@@ -528,14 +511,14 @@ class CollisionTest(parameterized.TestCase):
@parameterized.parameters(_FIXTURES.keys())
def test_collision(self, fixture):
"""Tests collisions with different geometries."""
mjm, mjd, m, d = test_util.fixture(xml=self._FIXTURES[fixture], qpos0=True)
mjm, mjd, m, d = test_data.fixture(xml=self._FIXTURES[fixture])
# Exempt GJK collisions from exact contact count check
# because GJK generates more contacts
allow_different_contact_count = False
mujoco.mj_collision(mjm, mjd)
mjwarp.collision(m, d)
mjw.collision(m, d)
self.assertGreater(d.ncon.numpy()[0], 0)
self.assertGreater(mjd.ncon, 0)
@@ -582,16 +565,16 @@ class CollisionTest(parameterized.TestCase):
@parameterized.parameters(_HFIELD_FIXTURES.keys())
def test_hfield_collision(self, fixture):
"""Tests hfield collision with different geometries."""
mjm, mjd, m, d = test_util.fixture(xml=self._HFIELD_FIXTURES[fixture])
mjm, mjd, m, d = test_data.fixture(xml=self._HFIELD_FIXTURES[fixture])
mujoco.mj_collision(mjm, mjd)
mjwarp.collision(m, d)
mjw.collision(m, d)
self.assertEqual(mjd.ncon > 0, d.ncon.numpy()[0] > 0, "If MJ collides, MJW should too")
def test_contact_exclude(self):
"""Tests contact exclude."""
_, _, m, _ = test_util.fixture(
_, _, m, _ = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -617,11 +600,11 @@ class CollisionTest(parameterized.TestCase):
self.assertEqual(m.nxn_geom_pair.numpy().shape[0], 3)
np.testing.assert_equal(m.nxn_pairid.numpy(), np.array([-2, -1, -1]))
@parameterized.parameters(list(types.BroadphaseType))
@parameterized.parameters(list(BroadphaseType))
def test_contact_pair(self, broadphase):
"""Tests contact pair."""
# no pairs
_, _, m, _ = test_util.fixture(
_, _, m, _ = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -632,12 +615,12 @@ class CollisionTest(parameterized.TestCase):
</worldbody>
</mujoco>
""",
broadphase=broadphase,
overrides={"opt.broadphase": broadphase},
)
self.assertTrue((m.nxn_pairid.numpy() == -1).all())
# 1 pair
_, _, m, d = test_util.fixture(
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -654,8 +637,7 @@ class CollisionTest(parameterized.TestCase):
<pair geom1="geom1" geom2="geom2" margin="2" gap="3" condim="6" friction="5 4 3 2 1" solref="-.25 -.5" solreffriction="2 4" solimp=".1 .2 .3 .4 .5"/>
</contact>
</mujoco>
""",
qpos0=True,
"""
)
self.assertTrue((m.nxn_pairid.numpy() == 0).all())
@@ -670,7 +652,7 @@ class CollisionTest(parameterized.TestCase):
):
arr.zero_()
mjwarp.collision(m, d)
mjw.collision(m, d)
self.assertEqual(d.ncon.numpy()[0], 1)
self.assertEqual(d.contact.includemargin.numpy()[0], -1)
@@ -681,7 +663,7 @@ class CollisionTest(parameterized.TestCase):
np.testing.assert_allclose(d.contact.solimp.numpy()[0], np.array([0.1, 0.2, 0.3, 0.4, 0.5]))
# 1 pair: override contype and conaffinity
_, _, m, d = test_util.fixture(
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -698,8 +680,7 @@ class CollisionTest(parameterized.TestCase):
<pair geom1="geom1" geom2="geom2" margin="2" gap="3" condim="6" friction="5 4 3 2 1" solref="-.25 -.5" solreffriction="2 4" solimp=".1 .2 .3 .4 .5"/>
</contact>
</mujoco>
""",
qpos0=True,
"""
)
self.assertTrue((m.nxn_pairid.numpy() == 0).all())
@@ -714,7 +695,7 @@ class CollisionTest(parameterized.TestCase):
):
arr.zero_()
mjwarp.collision(m, d)
mjw.collision(m, d)
self.assertEqual(d.ncon.numpy()[0], 1)
self.assertEqual(d.contact.includemargin.numpy()[0], -1)
@@ -725,7 +706,7 @@ class CollisionTest(parameterized.TestCase):
np.testing.assert_allclose(d.contact.solimp.numpy()[0], np.array([0.1, 0.2, 0.3, 0.4, 0.5]))
# 1 pair: override exclude
_, _, m, d = test_util.fixture(
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -743,8 +724,7 @@ class CollisionTest(parameterized.TestCase):
<pair geom1="geom1" geom2="geom2" margin="2" gap="3" condim="6" friction="5 4 3 2 1" solref="-.25 -.5" solreffriction="2 4" solimp=".1 .2 .3 .4 .5"/>
</contact>
</mujoco>
""",
qpos0=True,
"""
)
self.assertTrue((m.nxn_pairid.numpy() == 0).all())
@@ -759,7 +739,7 @@ class CollisionTest(parameterized.TestCase):
):
arr.zero_()
mjwarp.collision(m, d)
mjw.collision(m, d)
self.assertEqual(d.ncon.numpy()[0], 1)
self.assertEqual(d.contact.includemargin.numpy()[0], -1)
@@ -770,7 +750,7 @@ class CollisionTest(parameterized.TestCase):
np.testing.assert_allclose(d.contact.solimp.numpy()[0], np.array([0.1, 0.2, 0.3, 0.4, 0.5]))
# 1 pair 1 exclude
_, _, m, d = test_util.fixture(
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -792,8 +772,7 @@ class CollisionTest(parameterized.TestCase):
<pair geom1="geom2" geom2="geom3" margin="2" gap="3" condim="6" friction="5 4 3 2 1" solref="-.25 -.5" solreffriction="2 4" solimp=".1 .2 .3 .4 .5"/>
</contact>
</mujoco>
""",
qpos0=True,
"""
)
np.testing.assert_equal(m.nxn_pairid.numpy(), np.array([-2, -1, 0]))
@@ -808,7 +787,7 @@ class CollisionTest(parameterized.TestCase):
):
arr.zero_()
mjwarp.collision(m, d)
mjw.collision(m, d)
self.assertEqual(d.ncon.numpy()[0], 2)
self.assertEqual(d.contact.includemargin.numpy()[1], -1)
@@ -818,29 +797,20 @@ class CollisionTest(parameterized.TestCase):
np.testing.assert_allclose(d.contact.solreffriction.numpy()[1], np.array([2.0, 4.0]))
np.testing.assert_allclose(d.contact.solimp.numpy()[1], np.array([0.1, 0.2, 0.3, 0.4, 0.5]))
@parameterized.parameters(
(True, True),
(True, False),
(False, True),
(False, False),
)
@parameterized.product(constraint=(0, DisableBit.CONSTRAINT), contact=(0, DisableBit.CONTACT))
def test_collision_disableflags(self, constraint, contact):
"""Tests collision disableflags."""
mjm, mjd, m, d = test_util.fixture(
"humanoid/humanoid.xml",
keyframe=0,
constraint=constraint,
contact=contact,
kick=False,
mjm, mjd, m, d = test_data.fixture(
"humanoid/humanoid.xml", keyframe=0, overrides={"opt.disableflags": constraint | contact}
)
mujoco.mj_collision(mjm, mjd)
mjwarp.collision(m, d)
mjw.collision(m, d)
self.assertEqual(d.ncon.numpy()[0], mjd.ncon)
def test_hfield_maxconpair(self):
_XML = f"""
_XML = """
<mujoco>
<asset>
<hfield name="hfield" nrow="10" ncol="10" size="1e-6 1e-6 1 1"/>
@@ -858,14 +828,14 @@ class CollisionTest(parameterized.TestCase):
</mujoco>
"""
_, _, m, d = test_util.fixture(xml=_XML, keyframe=0)
_, _, m, d = test_data.fixture(xml=_XML, keyframe=0)
mjwarp.collision(m, d)
mjw.collision(m, d)
np.testing.assert_equal(d.ncon.numpy()[0], types.MJ_MAXCONPAIR)
def test_min_friction(self):
_, _, _, d = test_util.fixture(
_, _, _, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -891,7 +861,7 @@ class CollisionTest(parameterized.TestCase):
@parameterized.parameters(("1", "1"), ("1", "2"), ("2", "1"))
def test_contact_parameter_mixing(self, priority1, priority2):
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml=f"""
<mujoco>
<worldbody>
@@ -909,7 +879,7 @@ class CollisionTest(parameterized.TestCase):
keyframe=0,
)
mjwarp.collision(m, d)
mjw.collision(m, d)
ncon = d.ncon.numpy()[0]
_assert_eq(ncon, 1, "ncon")
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py
Vendored
+88 -72
View File
@@ -90,54 +90,40 @@ class SupportPoint:
@wp.func
def _discrete_geoms(g1: int, g2: int) -> bool:
return (g1 == int(GeomType.MESH.value) or g1 == int(GeomType.BOX.value) or g1 == int(GeomType.HFIELD.value)) and (
g2 == int(GeomType.MESH.value) or g2 == int(GeomType.BOX.value) or g2 == int(GeomType.HFIELD.value)
return (g1 == GeomType.MESH or g1 == GeomType.BOX or g1 == GeomType.HFIELD) and (
g2 == GeomType.MESH or g2 == GeomType.BOX or g2 == GeomType.HFIELD
)
@wp.func
def _support_margin(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
sp = SupportPoint()
sp.cached_index = -1
sp.vertex_index = -1
if geomtype == int(GeomType.SPHERE.value):
sp.point = geom.pos
return sp
elif geomtype == int(GeomType.CAPSULE.value):
local_dir = wp.transpose(geom.rot) @ dir
res = wp.vec3()
res[2] = wp.where(local_dir[2] >= 0, geom.size[1], -geom.size[1])
sp.point = geom.rot @ res + geom.pos
return sp
@wp.func
def _support(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
sp = SupportPoint()
sp.cached_index = -1
sp.vertex_index = -1
if geomtype == GeomType.SPHERE:
sp.point = geom.pos + (0.5 * geom.margin) * geom.size[0] * dir
return sp
local_dir = wp.transpose(geom.rot) @ dir
if geomtype == int(GeomType.SPHERE.value):
sp.point = geom.pos + geom.size[0] * dir
elif geomtype == int(GeomType.BOX.value):
if geomtype == GeomType.BOX:
tmp = wp.sign(local_dir)
res = wp.cw_mul(tmp, geom.size)
sp.point = geom.rot @ res + geom.pos
sp.vertex_index = wp.where(tmp[0] > 0, 1, 0)
sp.vertex_index += wp.where(tmp[1] > 0, 2, 0)
sp.vertex_index += wp.where(tmp[2] > 0, 4, 0)
elif geomtype == int(GeomType.CAPSULE.value):
elif geomtype == GeomType.CAPSULE:
res = local_dir * geom.size[0]
# add cylinder contribution
res[2] += wp.sign(local_dir[2]) * geom.size[1]
sp.point = geom.rot @ res + geom.pos
elif geomtype == int(GeomType.ELLIPSOID.value):
elif geomtype == GeomType.ELLIPSOID:
res = wp.cw_mul(local_dir, geom.size)
res = wp.normalize(res)
# transform to ellipsoid
res = wp.cw_mul(res, geom.size)
sp.point = geom.rot @ res + geom.pos
elif geomtype == int(GeomType.CYLINDER.value):
elif geomtype == GeomType.CYLINDER:
res = wp.vec3(0.0, 0.0, 0.0)
# set result in XY plane: support on circle
d = wp.sqrt(local_dir[0] * local_dir[0] + local_dir[1] * local_dir[1])
@@ -148,7 +134,7 @@ def _support(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
# set result in Z direction
res[2] = wp.sign(local_dir[2]) * geom.size[1]
sp.point = geom.rot @ res + geom.pos
elif geomtype == int(GeomType.MESH.value):
elif geomtype == GeomType.MESH:
max_dist = float(FLOAT_MIN)
if geom.graphadr == -1 or geom.vertnum < 10:
if geom.index > -1:
@@ -195,7 +181,7 @@ def _support(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
sp.point = geom.vert[geom.vertadr + imax]
sp.point = geom.rot @ sp.point + geom.pos
elif geomtype == int(GeomType.HFIELD.value):
elif geomtype == GeomType.HFIELD:
max_dist = float(FLOAT_MIN)
for i in range(6):
vert = geom.hfprism[i]
@@ -205,6 +191,8 @@ def _support(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
sp.point = vert
sp.point = geom.rot @ sp.point + geom.pos
if geom.margin > 0.0:
sp.point += dir * (0.5 * geom.margin)
return sp
@@ -591,10 +579,9 @@ def gjk(
geomtype1: int,
geomtype2: int,
cutoff: float,
use_margin: bool,
is_discrete: bool,
) -> GJKResult:
"""Find distance within a tolerance between two geoms."""
is_discrete = _discrete_geoms(geomtype1, geomtype2)
cutoff2 = cutoff * cutoff
simplex = mat43()
simplex1 = mat43()
@@ -608,9 +595,6 @@ def gjk(
# set initial guess
x_k = x1_0 - x2_0
use_margin1 = use_margin and (geomtype1 == int(GeomType.SPHERE.value) or geomtype1 == int(GeomType.CAPSULE.value))
use_margin2 = use_margin and (geomtype2 == int(GeomType.SPHERE.value) or geomtype2 == int(GeomType.CAPSULE.value))
for k in range(gjk_iterations):
xnorm = wp.dot(x_k, x_k)
# TODO(kbayes): determine new constant here
@@ -619,13 +603,13 @@ def gjk(
dir_neg = x_k / wp.sqrt(xnorm)
# compute kth support point in geom1
sp = wp.where(use_margin1, _support_margin(geom1, geomtype1, -dir_neg), _support(geom1, geomtype1, -dir_neg))
sp = _support(geom1, geomtype1, -dir_neg)
simplex1[n] = sp.point
geom1.index = sp.cached_index
simplex_index1[n] = sp.vertex_index
# compute kth support point in geom2
sp = wp.where(use_margin2, _support_margin(geom2, geomtype2, dir_neg), _support(geom2, geomtype2, dir_neg))
sp = _support(geom2, geomtype2, dir_neg)
simplex2[n] = sp.point
geom2.index = sp.cached_index
simplex_index2[n] = sp.vertex_index
@@ -692,8 +676,10 @@ def gjk(
result = GJKResult()
# compute the approximate witness points
result.x1 = _linear_combine(n, coordinates, simplex1)
result.x2 = _linear_combine(n, coordinates, simplex2)
# if n is zero, then there was an immediate return meaning the initial points
# are the witness points
result.x1 = wp.where(n == 0, x1_0, _linear_combine(n, coordinates, simplex1))
result.x2 = wp.where(n == 0, x2_0, _linear_combine(n, coordinates, simplex2))
result.dist = wp.norm_l2(x_k)
result.dim = n
@@ -1199,10 +1185,17 @@ def _polytope4(
@wp.func
def _epa(
tolerance: float, epa_iterations: int, pt: Polytope, geom1: Geom, geom2: Geom, geomtype1: int, geomtype2: int
# In:
tolerance: float,
epa_iterations: int,
pt: Polytope,
geom1: Geom,
geom2: Geom,
geomtype1: int,
geomtype2: int,
is_discrete: bool,
) -> Tuple[float, wp.vec3, wp.vec3, int]:
"""Recover penetration data from two geoms in contact given an initial polytope."""
is_discrete = _discrete_geoms(geomtype1, geomtype2)
upper = FLOAT_MAX
upper2 = FLOAT_MAX
idx = int(-1)
@@ -1808,6 +1801,7 @@ def _plane_intersect(pn: wp.vec3, pd: float, a: wp.vec3, b: wp.vec3) -> Tuple[fl
@wp.func
def _polygon_clip(
# In:
prune: bool,
plane_normal: wp.array(dtype=wp.vec3),
plane_dist: wp.array(dtype=float),
face1: wp.array(dtype=wp.vec3),
@@ -1887,7 +1881,7 @@ def _polygon_clip(
if npolygon < 1:
return 0, witness1, witness2
if npolygon > 4:
if prune and npolygon > 4:
quad = _polygon_quad(polygon_out, npolygon)
for i in range(4):
witness2[i] = polygon_out[quad[i]]
@@ -1939,7 +1933,7 @@ def _multicontact(
witness1[0] = x1
witness2[0] = x2
if geomtype1 == int(GeomType.MESH.value):
if geomtype1 == GeomType.MESH:
vert = geom1.vert
polynormal = geom1.mesh_polynormal
polyvertadr = geom1.mesh_polyvertadr
@@ -1948,7 +1942,7 @@ def _multicontact(
polymapadr = geom1.mesh_polymapadr
polymapnum = geom1.mesh_polymapnum
polymap = geom1.mesh_polymap
elif geomtype2 == int(GeomType.MESH.value):
elif geomtype2 == GeomType.MESH:
vert = geom2.vert
polynormal = geom2.mesh_polynormal
polyvertadr = geom2.mesh_polyvertadr
@@ -1966,9 +1960,9 @@ def _multicontact(
dir_neg = -dir
# get all possible face normals for each geom
if geomtype1 == int(GeomType.BOX.value):
if geomtype1 == GeomType.BOX:
nnorms1 = _box_normals(nface1, feature_index1, geom1.rot, dir_neg, n1, idx1)
elif geomtype1 == int(GeomType.MESH.value):
elif geomtype1 == GeomType.MESH:
nnorms1 = _mesh_normals(
nface1,
feature_index1,
@@ -1982,9 +1976,9 @@ def _multicontact(
n1,
idx1,
)
if geomtype2 == int(GeomType.BOX.value):
if geomtype2 == GeomType.BOX:
nnorms2 = _box_normals(nface2, feature_index2, geom2.rot, dir, n2, idx2)
elif geomtype2 == int(GeomType.MESH.value):
elif geomtype2 == GeomType.MESH:
nnorms2 = _mesh_normals(
nface2,
feature_index2,
@@ -2007,11 +2001,11 @@ def _multicontact(
# check if edge-face collision
if nface1 < 3 and nface1 <= nface2:
nnorms1 = 0
if geomtype1 == int(GeomType.BOX.value):
if geomtype1 == GeomType.BOX:
nnorms1 = _box_edge_normals(
nface1, geom1.rot, geom1.pos, geom1.size, feature_vertex1[0], feature_vertex1[1], feature_index1[0], n1, endvert
)
elif geomtype1 == int(GeomType.MESH.value):
elif geomtype1 == GeomType.MESH:
nnorms1 = _mesh_edge_normals(
nface1,
geom1.rot,
@@ -2039,11 +2033,11 @@ def _multicontact(
# check if face-edge collision
elif nface2 < 3:
nnorms2 = 0
if geomtype2 == int(GeomType.BOX.value):
if geomtype2 == GeomType.BOX:
nnorms2 = _box_edge_normals(
nface2, geom2.rot, geom2.pos, geom2.size, feature_vertex2[0], feature_vertex2[1], feature_index2[0], n2, endvert
)
elif geomtype2 == int(GeomType.MESH.value):
elif geomtype2 == GeomType.MESH:
nnorms2 = _mesh_edge_normals(
nface2,
geom2.rot,
@@ -2079,9 +2073,9 @@ def _multicontact(
nface1 = _set_edge(pt.vert1, endvert, face[0], i, face1)
else:
ind = wp.where(is_edge_contact_geom2, idx1[j], idx1[i])
if geomtype1 == int(GeomType.BOX.value):
if geomtype1 == GeomType.BOX:
nface1 = _box_face(geom1.rot, geom1.pos, geom1.size, ind, face1)
elif geomtype1 == int(GeomType.MESH.value):
elif geomtype1 == GeomType.MESH:
nface1 = _mesh_face(
geom1.rot,
geom1.pos,
@@ -2099,9 +2093,9 @@ def _multicontact(
if is_edge_contact_geom2:
nface2 = _set_edge(pt.vert2, endvert, face[0], i, face2)
else:
if geomtype2 == int(GeomType.BOX.value):
if geomtype2 == GeomType.BOX:
nface2 = _box_face(geom2.rot, geom2.pos, geom2.size, idx2[j], face2)
elif geomtype2 == int(GeomType.MESH.value):
elif geomtype2 == GeomType.MESH:
nface2 = _mesh_face(
geom2.rot,
geom2.pos,
@@ -2123,16 +2117,19 @@ def _multicontact(
# face1 is an edge; clip face1 against face2
if is_edge_contact_geom1:
approx_dir = wp.norm_l2(dir) * n2[j]
return _polygon_clip(plane_normal, plane_dist, face2, nface2, face1, nface1, n2[j], approx_dir, polygon, clipped)
return _polygon_clip(False, plane_normal, plane_dist, face2, nface2, face1, nface1, n2[j], approx_dir, polygon, clipped)
# face2 is an edge; clip face2 against face1
if is_edge_contact_geom2:
approx_dir = -wp.norm_l2(dir) * n1[j]
return _polygon_clip(plane_normal, plane_dist, face1, nface1, face2, nface2, n1[j], approx_dir, polygon, clipped)
return _polygon_clip(False, plane_normal, plane_dist, face1, nface1, face2, nface2, n1[j], approx_dir, polygon, clipped)
# face-face collision
approx_dir = wp.norm_l2(dir) * n2[j]
return _polygon_clip(plane_normal, plane_dist, face1, nface1, face2, nface2, n1[i], approx_dir, polygon, clipped)
# don't prune box-box collisions (expect up to 8 contacts)
prune = not (geomtype1 == GeomType.BOX and geomtype2 == GeomType.BOX)
return _polygon_clip(prune, plane_normal, plane_dist, face1, nface1, face2, nface2, n1[i], approx_dir, polygon, clipped)
@wp.func
@@ -2153,8 +2150,7 @@ def ccd(
multiccd: bool,
tolerance: float,
cutoff: float,
gjk_iterations: int,
epa_iterations: int,
ccd_iterations: int,
geom1: Geom,
geom2: Geom,
geomtype1: int,
@@ -2187,19 +2183,30 @@ def ccd(
"""General convex collision detection via GJK/EPA."""
witness1 = mat3c()
witness2 = mat3c()
margin1 = 0.0
margin2 = 0.0
full_margin1 = 0.0
full_margin2 = 0.0
size1 = 0.0
size2 = 0.0
if geomtype1 == int(GeomType.SPHERE.value) or geomtype1 == int(GeomType.CAPSULE.value):
margin1 = geom1.size[0]
# determine if the geoms being tested are discrete
is_discrete = _discrete_geoms(geomtype1, geomtype2) and (geom1.margin == 0.0 and geom2.margin == 0.0)
if geomtype2 == int(GeomType.SPHERE.value) or geomtype2 == int(GeomType.CAPSULE.value):
margin2 = geom2.size[0]
if geomtype1 == GeomType.SPHERE or geomtype1 == GeomType.CAPSULE:
size1 = geom1.size[0]
full_margin1 = size1 + 0.5 * geom1.margin
geom1.margin = 0.0
geom1.size = wp.vec3(0.0, geom1.size[1], geom1.size[2])
if geomtype2 == GeomType.SPHERE or geomtype2 == GeomType.CAPSULE:
size2 = geom2.size[0]
full_margin2 = size2 + 0.5 * geom2.margin
geom2.margin = 0.0
geom2.size = wp.vec3(0.0, geom2.size[1], geom2.size[2])
# special handling for sphere and capsule (shrink to point and line respectively)
if margin1 + margin2 > 0.0:
cutoff += margin1 + margin2
result = gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, True)
if size1 + size2 > 0.0:
cutoff += full_margin1 + full_margin2
result = gjk(tolerance, ccd_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, is_discrete)
# shallow penetration, inflate contact
if result.dist > tolerance:
@@ -2207,15 +2214,19 @@ def ccd(
witness1[0] = result.x1
witness2[0] = result.x2
return result.dist, 1, witness1, witness2
dist, x1, x2 = _inflate(result.dist, result.x1, result.x2, margin1, margin2)
dist, x1, x2 = _inflate(result.dist, result.x1, result.x2, full_margin1, full_margin2)
witness1[0] = x1
witness2[0] = x2
return dist, 1, witness1, witness2
# deep penetration, reset initial conditions and rerun GJK + EPA
cutoff -= margin1 + margin2
geom1.margin = full_margin1 - size1
geom1.size = wp.vec3(size1, geom1.size[1], geom1.size[2])
geom2.margin = full_margin2 - size2
geom2.size = wp.vec3(size2, geom2.size[1], geom2.size[2])
cutoff -= full_margin1 + full_margin2
result = gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, False)
result = gjk(tolerance, ccd_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, is_discrete)
# no penetration depth to recover
if result.dist > tolerance or result.dim < 2:
@@ -2305,14 +2316,19 @@ def ccd(
witness2[0] = result.x2
return result.dist, 1, witness1, witness2
dist, x1, x2, idx = _epa(tolerance, epa_iterations, pt, geom1, geom2, geomtype1, geomtype2)
dist, x1, x2, idx = _epa(tolerance, ccd_iterations, pt, geom1, geom2, geomtype1, geomtype2, is_discrete)
if idx == -1:
return FLOAT_MAX, 0, witness1, witness2
# multiccd is always on for box-box collisions
if geomtype1 == GeomType.BOX and geomtype2 == GeomType.BOX:
multiccd = True
if (
multiccd
and (geomtype1 == int(GeomType.BOX.value) or (geomtype1 == int(GeomType.MESH.value) and geom1.mesh_polyadr > -1))
and (geomtype2 == int(GeomType.BOX.value) or (geomtype2 == int(GeomType.MESH.value) and geom2.mesh_polyadr > -1))
and (geom1.margin == 0.0 and geom2.margin == 0.0)
and (geomtype1 == GeomType.BOX or (geomtype1 == GeomType.MESH and geom1.mesh_polyadr > -1))
and (geomtype2 == GeomType.BOX or (geomtype2 == GeomType.MESH and geom2.mesh_polyadr > -1))
):
num, w1, w2 = _multicontact(
polygon,
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_legacy.py
Vendored
+7 -7
View File
@@ -54,23 +54,23 @@ VECI2 = vec6(1, 2, 3, 2, 3, 3)
@wp.func
def _gjk_support_geom(geom: Geom, geomtype: int, dir: wp.vec3):
local_dir = wp.transpose(geom.rot) @ dir
if geomtype == int(GeomType.SPHERE.value):
if geomtype == GeomType.SPHERE:
support_pt = geom.pos + geom.size[0] * dir
elif geomtype == int(GeomType.BOX.value):
elif geomtype == GeomType.BOX:
res = wp.cw_mul(wp.sign(local_dir), geom.size)
support_pt = geom.rot @ res + geom.pos
elif geomtype == int(GeomType.CAPSULE.value):
elif geomtype == GeomType.CAPSULE:
res = local_dir * geom.size[0]
# add cylinder contribution
res[2] += wp.sign(local_dir[2]) * geom.size[1]
support_pt = geom.rot @ res + geom.pos
elif geomtype == int(GeomType.ELLIPSOID.value):
elif geomtype == GeomType.ELLIPSOID:
res = wp.cw_mul(local_dir, geom.size)
res = wp.normalize(res)
# transform to ellipsoid
res = wp.cw_mul(res, geom.size)
support_pt = geom.rot @ res + geom.pos
elif geomtype == int(GeomType.CYLINDER.value):
elif geomtype == GeomType.CYLINDER:
res = wp.vec3(0.0, 0.0, 0.0)
# set result in XY plane: support on circle
d = wp.sqrt(wp.dot(local_dir, local_dir))
@@ -81,7 +81,7 @@ def _gjk_support_geom(geom: Geom, geomtype: int, dir: wp.vec3):
# set result in Z direction
res[2] = wp.sign(local_dir[2]) * geom.size[1]
support_pt = geom.rot @ res + geom.pos
elif geomtype == int(GeomType.MESH.value):
elif geomtype == GeomType.MESH:
max_dist = float(FLOAT_MIN)
if geom.graphadr == -1 or geom.vertnum < 10:
# exhaustive search over all vertices
@@ -117,7 +117,7 @@ def _gjk_support_geom(geom: Geom, geomtype: int, dir: wp.vec3):
support_pt = geom.vert[geom.vertadr + imax]
support_pt = geom.rot @ support_pt + geom.pos
elif geomtype == int(GeomType.HFIELD.value):
elif geomtype == GeomType.HFIELD:
max_dist = float(FLOAT_MIN)
for i in range(6):
vert = geom.hfprism[i]
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_test.py
Vendored
+61 -37
View File
@@ -13,23 +13,23 @@
# limitations under the License.
# ==============================================================================
import numpy as np
import warp as wp
from absl.testing import absltest
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
from mujoco.mjx.third_party.mujoco_warp import Data
from mujoco.mjx.third_party.mujoco_warp import GeomType
from mujoco.mjx.third_party.mujoco_warp import Model
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import ccd
from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import Geom
from mujoco.mjx.third_party.mujoco_warp._src.types import Data
from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
from mujoco.mjx.third_party.mujoco_warp._src.types import Model
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
MAX_ITERATIONS = 20
def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multiccd=False):
def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multiccd=False, margin=0.0):
@nested_kernel(module="unique", enable_backward=False)
def _gjk_kernel(
# Model:
@@ -82,18 +82,17 @@ def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multicc
ncon_out: wp.array(dtype=int),
pos_out: wp.array(dtype=wp.vec3),
):
MESHGEOM = int(GeomType.MESH.value)
geom1 = Geom()
geom1.index = -1
geomtype1 = geom_type[gid1]
geom1.pos = geom_xpos_in[0, gid1]
geom1.rot = geom_xmat_in[0, gid1]
geom1.size = geom_size[0, gid1]
geom1.margin = margin
geom1.graphadr = -1
geom1.mesh_polyadr = -1
if geom_dataid[gid1] >= 0 and geom_type[gid1] == MESHGEOM:
if geom_dataid[gid1] >= 0 and geom_type[gid1] == GeomType.MESH:
dataid = geom_dataid[gid1]
geom1.vertadr = mesh_vertadr[dataid]
geom1.vertnum = mesh_vertnum[dataid]
@@ -114,10 +113,11 @@ def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multicc
geom2.pos = geom_xpos_in[0, gid2]
geom2.rot = geom_xmat_in[0, gid2]
geom2.size = geom_size[0, gid2]
geom2.margin = margin
geom2.graphadr = -1
geom2.mesh_polyadr = -1
if geom_dataid[gid2] >= 0 and geom_type[gid2] == MESHGEOM:
if geom_dataid[gid2] >= 0 and geom_type[gid2] == GeomType.MESH:
dataid = geom_dataid[gid2]
geom2.vertadr = mesh_vertadr[dataid]
geom2.vertnum = mesh_vertnum[dataid]
@@ -145,7 +145,6 @@ def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multicc
1e-6,
1.0e30,
iterations,
iterations,
geom1,
geom2,
geomtype1,
@@ -268,8 +267,8 @@ class GJKTest(absltest.TestCase):
def test_spheres_distance(self):
"""Test distance between two spheres."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom name="geom1" type="sphere" pos="-1.5 0 0" size="1"/>
@@ -279,14 +278,16 @@ class GJKTest(absltest.TestCase):
"""
)
dist, _, _, _ = _geom_dist(m, d, 0, 1, MAX_ITERATIONS)
dist, _, x1, x2 = _geom_dist(m, d, 0, 1, MAX_ITERATIONS)
self.assertEqual(1.0, dist)
self.assertEqual(-0.5, x1[0])
self.assertEqual(0.5, x2[0])
def test_spheres_touching(self):
"""Test two touching spheres have zero distance"""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom type="sphere" pos="-1 0 0" size="1"/>
@@ -302,8 +303,8 @@ class GJKTest(absltest.TestCase):
def test_box_mesh_distance(self):
"""Test distance between a mesh and box"""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco model="MuJoCo Model">
<asset>
<mesh name="smallbox" scale="0.1 0.1 0.1"
@@ -330,8 +331,8 @@ class GJKTest(absltest.TestCase):
def test_sphere_sphere_contact(self):
"""Test penetration depth between two spheres."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom type="sphere" pos="-1 0 0" size="3"/>
@@ -347,8 +348,8 @@ class GJKTest(absltest.TestCase):
def test_box_box_contact(self):
"""Test penetration between two boxes."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom type="box" pos="-1 0 0" size="2.5 2.5 2.5"/>
@@ -358,8 +359,10 @@ class GJKTest(absltest.TestCase):
"""
)
dist, _, x1, x2 = _geom_dist(m, d, 0, 1, MAX_ITERATIONS)
diff = x1 - x2
normal = diff / np.linalg.norm(diff)
self.assertAlmostEqual(-1, dist)
normal = wp.normalize(x1 - x2)
self.assertAlmostEqual(normal[0], 1)
self.assertAlmostEqual(normal[1], 0)
self.assertAlmostEqual(normal[2], 0)
@@ -367,8 +370,8 @@ class GJKTest(absltest.TestCase):
def test_mesh_mesh_contact(self):
"""Test penetration between two meshes."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<asset>
<mesh name="box" scale=".5 .5 .1"
@@ -404,8 +407,8 @@ class GJKTest(absltest.TestCase):
def test_cylinder_cylinder_contact(self):
"""Test penetration between two cylinder."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom pos="0 0 0" type="cylinder" size="1 .5"/>
@@ -421,8 +424,8 @@ class GJKTest(absltest.TestCase):
def test_box_edge(self):
"""Test box edge."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom pos="0 0 2" type="box" name="box2" size="1 1 1"/>
@@ -436,8 +439,8 @@ class GJKTest(absltest.TestCase):
def test_box_box_ccd(self):
"""Test box box."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom name="geom1" type="box" pos="0 0 1.9" size="1 1 1"/>
@@ -452,8 +455,8 @@ class GJKTest(absltest.TestCase):
def test_mesh_mesh_ccd(self):
"""Test mesh-mesh multiccd."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<asset>
<mesh name="smallbox"
@@ -473,8 +476,8 @@ class GJKTest(absltest.TestCase):
def test_box_box_ccd2(self):
"""Test box-box multiccd 2."""
_, _, m, d = test_util.fixture(
xml=f"""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<geom size="1 1 1" pos="0 0 2" type="box"/>
@@ -485,7 +488,28 @@ class GJKTest(absltest.TestCase):
)
_, ncon, _, _ = _geom_dist(m, d, 0, 1, MAX_ITERATIONS, multiccd=True)
self.assertEqual(ncon, 4)
self.assertEqual(ncon, 5)
def test_sphere_mesh_margin(self):
"""Test sphere-mesh margin."""
_, _, m, d = test_data.fixture(
xml="""
<mujoco>
<asset>
<mesh name="box" scale=".2 .2 .2"
vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"/>
</asset>
<worldbody>
<geom type="sphere" pos="0 0 .349" size=".1"/>
<geom type="mesh" mesh="box"/>
</worldbody>
</mujoco>
"""
)
dist, _, _, _ = _geom_dist(m, d, 0, 1, MAX_ITERATIONS, multiccd=False, margin=0.05)
self.assertAlmostEqual(dist, -0.001)
if __name__ == "__main__":
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py
Vendored
+81 -66
View File
@@ -38,6 +38,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import Data
from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
from mujoco.mjx.third_party.mujoco_warp._src.types import Model
from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
@@ -59,6 +60,7 @@ class Geom:
rot: wp.mat33
normal: wp.vec3
size: wp.vec3
margin: float
hfprism: mat63
vertadr: int
vertnum: int
@@ -84,13 +86,13 @@ def geom(
geom_type: int,
geom_dataid: int,
geom_size: wp.vec3,
mesh_vertadr: int,
mesh_vertnum: int,
mesh_vertadr: wp.array(dtype=int),
mesh_vertnum: wp.array(dtype=int),
mesh_vert: wp.array(dtype=wp.vec3),
mesh_graphadr: int,
mesh_graphadr: wp.array(dtype=int),
mesh_graph: wp.array(dtype=int),
mesh_polynum: int,
mesh_polyadr: int,
mesh_polynum: wp.array(dtype=int),
mesh_polyadr: wp.array(dtype=int),
mesh_polynormal: wp.array(dtype=wp.vec3),
mesh_polyvertadr: wp.array(dtype=int),
mesh_polyvertnum: wp.array(dtype=int),
@@ -109,21 +111,20 @@ def geom(
geom.size = geom_size
geom.normal = wp.vec3(geom_xmat_in[0, 2], geom_xmat_in[1, 2], geom_xmat_in[2, 2]) # plane
# If geom is MESH, get mesh verts
if geom_dataid >= 0 and geom_type == int(GeomType.MESH.value):
geom.vertadr = mesh_vertadr
geom.vertnum = mesh_vertnum
geom.graphadr = mesh_graphadr
geom.mesh_polynum = mesh_polynum
geom.mesh_polyadr = mesh_polyadr
else:
geom.vertadr = -1
geom.vertnum = -1
geom.graphadr = -1
geom.mesh_polynum = -1
geom.mesh_polyadr = -1
if geom_type == GeomType.MESH:
if geom_dataid >= 0:
geom.vertadr = mesh_vertadr[geom_dataid]
geom.vertnum = mesh_vertnum[geom_dataid]
geom.graphadr = mesh_graphadr[geom_dataid]
geom.mesh_polynum = mesh_polynum[geom_dataid]
geom.mesh_polyadr = mesh_polyadr[geom_dataid]
else:
geom.vertadr = -1
geom.vertnum = -1
geom.graphadr = -1
geom.mesh_polynum = -1
geom.mesh_polyadr = -1
if geom_type == int(GeomType.MESH.value):
geom.vert = mesh_vert
geom.graph = mesh_graph
geom.mesh_polynormal = mesh_polynormal
@@ -135,6 +136,8 @@ def geom(
geom.mesh_polymap = mesh_polymap
geom.index = -1
geom.margin = 0.0
return geom
@@ -167,56 +170,64 @@ def plane_convex(plane_normal: wp.vec3, plane_pos: wp.vec3, convex: Geom) -> Tup
# exhaustive search over all vertices
if convex.graphadr == -1 or convex.vertnum < 10:
# Find support points
# find support points
max_support = wp.float32(-_HUGE_VAL)
for i in range(convex.vertnum):
support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
max_support = wp.max(support, max_support)
threshold = wp.max(0.0, max_support - 1e-3)
# Find point a (first support point)
# find first support point (a)
a_dist = wp.float32(-_HUGE_VAL)
a = wp.vec3()
for i in range(convex.vertnum):
support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
vert = convex.vert[convex.vertadr + i]
support = wp.dot(plane_pos_local - vert, n)
dist = wp.where(support > threshold, support, -_HUGE_VAL)
if dist > a_dist:
indices[0] = i
a_dist = dist
a = convex.vert[convex.vertadr + indices[0]]
a = vert
# Find point b (furthest from a)
# find point (b) furthest from a
b_dist = wp.float32(-_HUGE_VAL)
b = wp.vec3()
for i in range(convex.vertnum):
support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
vert = convex.vert[convex.vertadr + i]
support = wp.dot(plane_pos_local - vert, n)
dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
dist = wp.length_sq(a - convex.vert[convex.vertadr + i]) + dist_mask
dist = wp.length_sq(a - vert) + dist_mask
if dist > b_dist:
indices[1] = i
b_dist = dist
b = convex.vert[convex.vertadr + indices[1]]
b = vert
# Find point c (furthest along axis orthogonal to a-b)
# find point (c) furthest along axis orthogonal to a-b
ab = wp.cross(n, a - b)
c_dist = wp.float32(-_HUGE_VAL)
c = wp.vec3()
for i in range(convex.vertnum):
support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
vert = convex.vert[convex.vertadr + i]
support = wp.dot(plane_pos_local - vert, n)
dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
ap = a - convex.vert[convex.vertadr + i]
ap = a - vert
dist = wp.abs(wp.dot(ap, ab)) + dist_mask
if dist > c_dist:
indices[2] = i
c_dist = dist
c = convex.vert[convex.vertadr + indices[2]]
c = vert
# Find point d (furthest from other triangle edges)
# find point (d) furthest from other triangle edges
ac = wp.cross(n, a - c)
bc = wp.cross(n, b - c)
d_dist = wp.float32(-_HUGE_VAL)
for i in range(convex.vertnum):
support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
vert = convex.vert[convex.vertadr + i]
support = wp.dot(plane_pos_local - vert, n)
dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
ap = a - convex.vert[convex.vertadr + i]
bp = b - convex.vert[convex.vertadr + i]
ap = a - vert
bp = b - vert
dist_ap = wp.abs(wp.dot(ap, ac)) + dist_mask
dist_bp = wp.abs(wp.dot(bp, bc)) + dist_mask
if dist_ap + dist_bp > d_dist:
@@ -1406,19 +1417,19 @@ def box_box_wrapper(
_PRIMITIVE_COLLISIONS = {
(GeomType.PLANE.value, GeomType.SPHERE.value): plane_sphere_wrapper,
(GeomType.PLANE.value, GeomType.CAPSULE.value): plane_capsule_wrapper,
(GeomType.PLANE.value, GeomType.ELLIPSOID.value): plane_ellipsoid_wrapper,
(GeomType.PLANE.value, GeomType.CYLINDER.value): plane_cylinder_wrapper,
(GeomType.PLANE.value, GeomType.BOX.value): plane_box_wrapper,
(GeomType.PLANE.value, GeomType.MESH.value): plane_convex_wrapper,
(GeomType.SPHERE.value, GeomType.SPHERE.value): sphere_sphere_wrapper,
(GeomType.SPHERE.value, GeomType.CAPSULE.value): sphere_capsule_wrapper,
(GeomType.SPHERE.value, GeomType.CYLINDER.value): sphere_cylinder_wrapper,
(GeomType.SPHERE.value, GeomType.BOX.value): sphere_box_wrapper,
(GeomType.CAPSULE.value, GeomType.CAPSULE.value): capsule_capsule_wrapper,
(GeomType.CAPSULE.value, GeomType.BOX.value): capsule_box_wrapper,
(GeomType.BOX.value, GeomType.BOX.value): box_box_wrapper,
(GeomType.PLANE, GeomType.SPHERE): plane_sphere_wrapper,
(GeomType.PLANE, GeomType.CAPSULE): plane_capsule_wrapper,
(GeomType.PLANE, GeomType.ELLIPSOID): plane_ellipsoid_wrapper,
(GeomType.PLANE, GeomType.CYLINDER): plane_cylinder_wrapper,
(GeomType.PLANE, GeomType.BOX): plane_box_wrapper,
(GeomType.PLANE, GeomType.MESH): plane_convex_wrapper,
(GeomType.SPHERE, GeomType.SPHERE): sphere_sphere_wrapper,
(GeomType.SPHERE, GeomType.CAPSULE): sphere_capsule_wrapper,
(GeomType.SPHERE, GeomType.CYLINDER): sphere_cylinder_wrapper,
(GeomType.SPHERE, GeomType.BOX): sphere_box_wrapper,
(GeomType.CAPSULE, GeomType.CAPSULE): capsule_capsule_wrapper,
(GeomType.CAPSULE, GeomType.BOX): capsule_box_wrapper,
(GeomType.BOX, GeomType.BOX): box_box_wrapper,
}
@@ -1426,7 +1437,7 @@ _PRIMITIVE_COLLISIONS = {
def _check_primitive_collisions():
prev_idx = -1
for types in _PRIMITIVE_COLLISIONS.keys():
idx = upper_trid_index(len(GeomType), types[0], types[1])
idx = upper_trid_index(len(GeomType), types[0].value, types[1].value)
if types[1] < types[0] or idx <= prev_idx:
return False
prev_idx = idx
@@ -1439,13 +1450,7 @@ _primitive_collisions_types = []
_primitive_collisions_func = []
def _primitive_narrowphase_builder(m: Model):
for types, func in _PRIMITIVE_COLLISIONS.items():
idx = upper_trid_index(len(GeomType), types[0], types[1])
if m.geom_pair_type_count[idx] and types not in _primitive_collisions_types:
_primitive_collisions_types.append(types)
_primitive_collisions_func.append(func)
def _create_narrowphase_kernel():
@nested_kernel(module="unique", enable_backward=False)
def _primitive_narrowphase(
# Model:
@@ -1549,13 +1554,13 @@ def _primitive_narrowphase_builder(m: Model):
type1,
geom1_dataid,
geom_size[worldid, g1],
mesh_vertadr[geom1_dataid],
mesh_vertnum[geom1_dataid],
mesh_vertadr,
mesh_vertnum,
mesh_vert,
mesh_graphadr[geom1_dataid],
mesh_graphadr,
mesh_graph,
mesh_polynum[geom1_dataid],
mesh_polyadr[geom1_dataid],
mesh_polynum,
mesh_polyadr,
mesh_polynormal,
mesh_polyvertadr,
mesh_polyvertnum,
@@ -1572,13 +1577,13 @@ def _primitive_narrowphase_builder(m: Model):
type2,
geom2_dataid,
geom_size[worldid, g2],
mesh_vertadr[geom2_dataid],
mesh_vertnum[geom2_dataid],
mesh_vertadr,
mesh_vertnum,
mesh_vert,
mesh_graphadr[geom2_dataid],
mesh_graphadr,
mesh_graph,
mesh_polynum[geom2_dataid],
mesh_polyadr[geom2_dataid],
mesh_polynum,
mesh_polyadr,
mesh_polynormal,
mesh_polyvertadr,
mesh_polyvertnum,
@@ -1625,6 +1630,16 @@ def _primitive_narrowphase_builder(m: Model):
return _primitive_narrowphase
def _primitive_narrowphase_builder(m: Model):
for types, func in _PRIMITIVE_COLLISIONS.items():
idx = upper_trid_index(len(GeomType), types[0].value, types[1].value)
if m.geom_pair_type_count[idx] and types not in _primitive_collisions_types:
_primitive_collisions_types.append(types)
_primitive_collisions_func.append(func)
return _create_narrowphase_kernel()
@event_scope
def primitive_narrowphase(m: Model, d: Data):
"""Runs collision detection on primitive geom pairs discovered during broadphase.
mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py
Vendored
+44 -32
View File
@@ -93,11 +93,11 @@ def get_sdf_params(
plugin_index = -1
volume_data = VolumeData()
if g_type == int(GeomType.SDF.value) and plugin_id != -1:
if g_type == GeomType.SDF and plugin_id != -1:
attributes = plugin_attr[plugin_id]
plugin_index = plugin[plugin_id]
elif g_type == int(GeomType.SDF.value) and mesh_id != -1:
elif g_type == GeomType.SDF and mesh_id != -1:
volume_data.center = oct_aabb[mesh_id, 0]
volume_data.half_size = oct_aabb[mesh_id, 1]
volume_data.oct_aabb = oct_aabb
@@ -232,6 +232,7 @@ def find_oct(
rx = vec8f(0.0)
ry = vec8f(0.0)
rz = vec8f(0.0)
eps = 1e-6
while niter > 0:
niter -= 1
@@ -243,6 +244,17 @@ def find_oct(
vmin = oct_aabb[node, 0] - oct_aabb[node, 1]
vmax = oct_aabb[node, 0] + oct_aabb[node, 1]
if (
p[0] + eps < vmin[0]
or p[0] - eps > vmax[0]
or p[1] + eps < vmin[1]
or p[1] - eps > vmax[1]
or p[2] + eps < vmin[2]
or p[2] - eps > vmax[2]
):
continue
coord = wp.cw_div(p - vmin, vmax - vmin)
# check if the node is a leaf
@@ -270,9 +282,9 @@ def find_oct(
return node, (rx, ry, rz)
# compute which of 8 children to visit next
x = 1 if coord[0] < 0.5 else 0
y = 1 if coord[1] < 0.5 else 0
z = 1 if coord[2] < 0.5 else 0
x = 0 if coord[0] < 0.5 else 1
y = 0 if coord[1] < 0.5 else 1
z = 0 if coord[2] < 0.5 else 1
stack = oct_child[node][4 * z + 2 * y + x]
wp.print("ERROR: Node not found\n")
@@ -345,15 +357,15 @@ def sample_volume_grad(xyz: wp.vec3, volume_data: VolumeData) -> wp.vec3:
@wp.func
def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: VolumeData, mesh_data: MeshData) -> float:
if type == int(GeomType.PLANE.value):
if type == GeomType.PLANE:
return p[2]
elif type == int(GeomType.SPHERE.value):
elif type == GeomType.SPHERE:
return sphere(p, attr)
elif type == int(GeomType.BOX.value):
elif type == GeomType.BOX:
return box(p, attr)
elif type == int(GeomType.ELLIPSOID.value):
elif type == GeomType.ELLIPSOID:
return ellipsoid(p, attr)
elif type == int(GeomType.MESH.value) and mesh_data.valid:
elif type == GeomType.MESH and mesh_data.valid:
mesh_data.pnt = p
mesh_data.vec = -wp.normalize(p)
dist = ray_mesh(
@@ -382,7 +394,7 @@ def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: Volume
-mesh_data.vec,
)
return dist
elif type == int(GeomType.SDF.value):
elif type == GeomType.SDF:
if sdf_type == -1:
return sample_volume_sdf(p, volume_data)
else:
@@ -393,16 +405,16 @@ def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: Volume
@wp.func
def sdf_grad(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: VolumeData, mesh_data: MeshData) -> wp.vec3:
if type == int(GeomType.PLANE.value):
if type == GeomType.PLANE:
grad = wp.vec3(0.0, 0.0, 1.0)
return grad
elif type == int(GeomType.SPHERE.value):
elif type == GeomType.SPHERE:
return grad_sphere(p)
elif type == int(GeomType.BOX.value):
elif type == GeomType.BOX:
return grad_box(p, attr)
elif type == int(GeomType.ELLIPSOID.value):
elif type == GeomType.ELLIPSOID:
return grad_ellipsoid(p, attr)
elif type == int(GeomType.MESH.value) and mesh_data.valid:
elif type == GeomType.MESH and mesh_data.valid:
mesh_data.pnt = p
mesh_data.vec = -wp.normalize(p)
dist = ray_mesh(
@@ -422,7 +434,7 @@ def sdf_grad(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: V
else:
return wp.vec3(-1.0)
elif type == int(GeomType.SDF.value):
elif type == GeomType.SDF:
if sdf_type == -1:
return sample_volume_grad(p, volume_data)
else:
@@ -448,7 +460,7 @@ def clearance(
mesh_data2: MeshData,
) -> float:
sdf1 = sdf(type1, p1, s1, sdf_type1, volume_data1, mesh_data1)
sdf2 = sdf(int(GeomType.SDF.value), p2, s2, sdf_type2, volume_data2, mesh_data2)
sdf2 = sdf(GeomType.SDF, p2, s2, sdf_type2, volume_data2, mesh_data2)
if sfd_intersection:
return wp.max(sdf1, sdf2)
else:
@@ -471,9 +483,9 @@ def compute_grad(
mesh_data2: MeshData,
) -> wp.vec3:
A = sdf(type1, p1, params.attr1, sdf_type1, volume_data1, mesh_data1)
B = sdf(int(GeomType.SDF.value), p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
B = sdf(GeomType.SDF, p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
grad1 = sdf_grad(type1, p1, params.attr1, sdf_type1, volume_data1, mesh_data1)
grad2 = sdf_grad(int(GeomType.SDF.value), p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
grad2 = sdf_grad(GeomType.SDF, p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
grad1_transformed = wp.transpose(params.rel_mat) * grad1
if sfd_intersection:
if A > B:
@@ -594,7 +606,7 @@ def gradient_descent(
grad1 = sdf_grad(type1, x_1, params.attr1, sdf_type1, volume_data1, mesh_data1)
grad1 = wp.transpose(params.rel_mat) * grad1
grad1 = wp.normalize(grad1)
grad2 = sdf_grad(int(GeomType.SDF.value), x, params.attr2, sdf_type2, volume_data2, mesh_data2)
grad2 = sdf_grad(GeomType.SDF, x, params.attr2, sdf_type2, volume_data2, mesh_data2)
grad2 = wp.normalize(grad2)
n = grad1 - grad2
n = wp.normalize(n)
@@ -688,7 +700,7 @@ def _sdf_narrowphase(
geoms = collision_pair_in[contact_tid]
g2 = geoms[1]
type2 = geom_type[g2]
if type2 != int(GeomType.SDF.value):
if type2 != GeomType.SDF:
return
worldid = collision_worldid_in[contact_tid]
_, margin, gap, condim, friction, solref, solreffriction, solimp = contact_params(
@@ -720,13 +732,13 @@ def _sdf_narrowphase(
type1,
geom1_dataid,
geom_size[worldid, g1],
mesh_vertadr[geom1_dataid],
mesh_vertnum[geom1_dataid],
mesh_vertadr,
mesh_vertnum,
mesh_vert,
mesh_graphadr[geom1_dataid],
mesh_graphadr,
mesh_graph,
mesh_polynum[geom1_dataid],
mesh_polyadr[geom1_dataid],
mesh_polynum,
mesh_polyadr,
mesh_polynormal,
mesh_polyvertadr,
mesh_polyvertnum,
@@ -743,13 +755,13 @@ def _sdf_narrowphase(
type2,
geom2_dataid,
geom_size[worldid, g2],
mesh_vertadr[geom2_dataid],
mesh_vertnum[geom2_dataid],
mesh_vertadr,
mesh_vertnum,
mesh_vert,
mesh_graphadr[geom2_dataid],
mesh_graphadr,
mesh_graph,
mesh_polynum[geom2_dataid],
mesh_polyadr[geom2_dataid],
mesh_polynum,
mesh_polyadr,
mesh_polynormal,
mesh_polyvertadr,
mesh_polyvertnum,
mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py
Vendored
+184 -207
View File
@@ -166,11 +166,10 @@ def _efc_equality_connect(
):
"""Calculates constraint rows for connect equality constraints."""
worldid, i_eq_connect_adr = wp.tid()
timestep = opt_timestep[worldid]
i_eq = eq_connect_adr[i_eq_connect_adr]
worldid, eqconnectid = wp.tid()
eqid = eq_connect_adr[eqconnectid]
if not eq_active_in[worldid, i_eq]:
if not eq_active_in[worldid, eqid]:
return
wp.atomic_add(ne_connect_out, worldid, 3)
@@ -179,14 +178,14 @@ def _efc_equality_connect(
if efcid + 3 >= njmax_in:
return
data = eq_data[worldid, i_eq]
data = eq_data[worldid, eqid]
anchor1 = wp.vec3f(data[0], data[1], data[2])
anchor2 = wp.vec3f(data[3], data[4], data[5])
obj1id = eq_obj1id[i_eq]
obj2id = eq_obj2id[i_eq]
obj1id = eq_obj1id[eqid]
obj2id = eq_obj2id[eqid]
if nsite and eq_objtype[i_eq] == wp.static(types.ObjType.SITE.value):
if nsite and eq_objtype[eqid] == types.ObjType.SITE:
# body1id stores the index of site_bodyid.
body1id = site_bodyid[obj1id]
body2id = site_bodyid[obj2id]
@@ -235,15 +234,15 @@ def _efc_equality_connect(
invweight = body_invweight0[worldid, body1id][0] + body_invweight0[worldid, body2id][0]
pos_imp = wp.length(pos)
solref = eq_solref[worldid, i_eq]
solimp = eq_solimp[worldid, i_eq]
solref = eq_solref[worldid, eqid]
solimp = eq_solimp[worldid, eqid]
for i in range(3):
efcidi = efcid + i
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcidi,
pos[i],
@@ -254,8 +253,8 @@ def _efc_equality_connect(
0.0,
Jqvel[i],
0.0,
ConstraintType.EQUALITY.value,
i_eq,
ConstraintType.EQUALITY,
eqid,
efc_type_out,
efc_id_out,
efc_pos_out,
@@ -302,10 +301,10 @@ def _efc_equality_joint(
efc_aref_out: wp.array2d(dtype=float),
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, i_eq_joint_adr = wp.tid()
timestep = opt_timestep[worldid]
i_eq = eq_jnt_adr[i_eq_joint_adr]
if not eq_active_in[worldid, i_eq]:
worldid, eqjntid = wp.tid()
eqid = eq_jnt_adr[eqjntid]
if not eq_active_in[worldid, eqid]:
return
wp.atomic_add(ne_jnt_out, worldid, 1)
@@ -317,9 +316,9 @@ def _efc_equality_joint(
for i in range(nv):
efc_J_out[worldid, efcid, i] = 0.0
jntid_1 = eq_obj1id[i_eq]
jntid_2 = eq_obj2id[i_eq]
data = eq_data[worldid, i_eq]
jntid_1 = eq_obj1id[eqid]
jntid_2 = eq_obj2id[eqid]
data = eq_data[worldid, eqid]
dofadr1 = jnt_dofadr[jntid_1]
qposadr1 = jnt_qposadr[jntid_1]
efc_J_out[worldid, efcid, dofadr1] = 1.0
@@ -348,19 +347,19 @@ def _efc_equality_joint(
# Update constraint parameters
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcid,
pos,
pos,
invweight,
eq_solref[worldid, i_eq],
eq_solimp[worldid, i_eq],
eq_solref[worldid, eqid],
eq_solimp[worldid, eqid],
0.0,
Jqvel,
0.0,
ConstraintType.EQUALITY.value,
i_eq,
ConstraintType.EQUALITY,
eqid,
efc_type_out,
efc_id_out,
efc_pos_out,
@@ -406,9 +405,8 @@ def _efc_equality_tendon(
efc_aref_out: wp.array2d(dtype=float),
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, tenid = wp.tid()
timestep = opt_timestep[worldid]
eqid = eq_ten_adr[tenid]
worldid, eqtenid = wp.tid()
eqid = eq_ten_adr[eqtenid]
if not eq_active_in[worldid, eqid]:
return
@@ -457,7 +455,7 @@ def _efc_equality_tendon(
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcid,
pos,
@@ -468,7 +466,7 @@ def _efc_equality_tendon(
0.0,
Jqvel,
0.0,
ConstraintType.EQUALITY.value,
ConstraintType.EQUALITY,
eqid,
efc_type_out,
efc_id_out,
@@ -509,18 +507,16 @@ def _efc_friction_dof(
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, dofid = wp.tid()
timestep = opt_timestep[worldid]
if dof_frictionloss[worldid, dofid] <= 0.0:
return
wp.atomic_add(nf_out, worldid, 1)
efcid = wp.atomic_add(nefc_out, worldid, 1)
if efcid >= njmax_in:
return
wp.atomic_add(nf_out, worldid, 1)
for i in range(nv):
efc_J_out[worldid, efcid, i] = 0.0
@@ -529,7 +525,7 @@ def _efc_friction_dof(
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcid,
0.0,
@@ -540,7 +536,7 @@ def _efc_friction_dof(
0.0,
Jqvel,
dof_frictionloss[worldid, dofid],
ConstraintType.FRICTION_DOF.value,
ConstraintType.FRICTION_DOF,
dofid,
efc_type_out,
efc_id_out,
@@ -563,6 +559,7 @@ def _efc_friction_tendon(
tendon_frictionloss: wp.array2d(dtype=float),
tendon_invweight0: wp.array2d(dtype=float),
# Data in:
njmax_in: int,
qvel_in: wp.array2d(dtype=float),
ten_J_in: wp.array3d(dtype=float),
# In:
@@ -581,14 +578,16 @@ def _efc_friction_tendon(
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, tenid = wp.tid()
timestep = opt_timestep[worldid]
frictionloss = tendon_frictionloss[worldid, tenid]
if frictionloss <= 0.0:
return
efcid = wp.atomic_add(nefc_out, worldid, 1)
wp.atomic_add(nf_out, worldid, 1)
efcid = wp.atomic_add(nefc_out, worldid, 1)
if efcid >= njmax_in:
return
Jqvel = float(0.0)
@@ -600,7 +599,7 @@ def _efc_friction_tendon(
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcid,
0.0,
@@ -611,7 +610,7 @@ def _efc_friction_tendon(
0.0,
Jqvel,
frictionloss,
ConstraintType.FRICTION_TENDON.value,
ConstraintType.FRICTION_TENDON,
tenid,
efc_type_out,
efc_id_out,
@@ -668,10 +667,10 @@ def _efc_equality_weld(
efc_aref_out: wp.array2d(dtype=float),
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, i_eq_weld_adr = wp.tid()
timestep = opt_timestep[worldid]
i_eq = eq_wld_adr[i_eq_weld_adr]
if not eq_active_in[worldid, i_eq]:
worldid, eqweldid = wp.tid()
eqid = eq_wld_adr[eqweldid]
if not eq_active_in[worldid, eqid]:
return
wp.atomic_add(ne_weld_out, worldid, 6)
@@ -680,12 +679,12 @@ def _efc_equality_weld(
if efcid + 6 >= njmax_in:
return
is_site = eq_objtype[i_eq] == wp.static(types.ObjType.SITE.value) and nsite > 0
is_site = eq_objtype[eqid] == types.ObjType.SITE and nsite > 0
obj1id = eq_obj1id[i_eq]
obj2id = eq_obj2id[i_eq]
obj1id = eq_obj1id[eqid]
obj2id = eq_obj2id[eqid]
data = eq_data[worldid, i_eq]
data = eq_data[worldid, eqid]
anchor1 = wp.vec3(data[0], data[1], data[2])
anchor2 = wp.vec3(data[3], data[4], data[5])
relpose = wp.quat(data[6], data[7], data[8], data[9])
@@ -739,14 +738,14 @@ def _efc_equality_weld(
)
jacdifp = jacp1 - jacp2
for i in range(wp.static(3)):
for i in range(3):
efc_J_out[worldid, efcid + i, dofid] = jacdifp[i]
jacdifr = (jacr1 - jacr2) * torquescale
jacdifrq = math.mul_quat(math.quat_mul_axis(quat1, jacdifr), quat)
jacdifr = 0.5 * wp.vec3(jacdifrq[1], jacdifrq[2], jacdifrq[3])
for i in range(wp.static(3)):
for i in range(3):
efc_J_out[worldid, efcid + 3 + i, dofid] = jacdifr[i]
Jqvelp += jacdifp * qvel_in[worldid, dofid]
@@ -762,8 +761,10 @@ def _efc_equality_weld(
pos_imp = wp.sqrt(wp.length_sq(cpos) + wp.length_sq(crot))
solref = eq_solref[worldid, i_eq]
solimp = eq_solimp[worldid, i_eq]
solref = eq_solref[worldid, eqid]
solimp = eq_solimp[worldid, eqid]
timestep = opt_timestep[worldid]
for i in range(3):
_update_efc_row(
@@ -779,8 +780,8 @@ def _efc_equality_weld(
0.0,
Jqvelp[i],
0.0,
ConstraintType.EQUALITY.value,
i_eq,
ConstraintType.EQUALITY,
eqid,
efc_type_out,
efc_id_out,
efc_pos_out,
@@ -807,8 +808,8 @@ def _efc_equality_weld(
0.0,
Jqvelr[i],
0.0,
ConstraintType.EQUALITY.value,
i_eq,
ConstraintType.EQUALITY,
eqid,
efc_type_out,
efc_id_out,
efc_pos_out,
@@ -853,7 +854,6 @@ def _efc_limit_slide_hinge(
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, jntlimitedid = wp.tid()
timestep = opt_timestep[worldid]
jntid = jnt_limited_slide_hinge_adr[jntlimitedid]
jntrange = jnt_range[worldid, jntid]
@@ -881,7 +881,7 @@ def _efc_limit_slide_hinge(
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcid,
pos,
@@ -892,7 +892,7 @@ def _efc_limit_slide_hinge(
jntmargin,
Jqvel,
0.0,
ConstraintType.LIMIT_JOINT.value,
ConstraintType.LIMIT_JOINT,
jntid,
efc_type_out,
efc_id_out,
@@ -938,7 +938,6 @@ def _efc_limit_ball(
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, jntlimitedid = wp.tid()
timestep = opt_timestep[worldid]
jntid = jnt_limited_ball_adr[jntlimitedid]
qposadr = jnt_qposadr[jntid]
@@ -975,7 +974,7 @@ def _efc_limit_ball(
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcid,
pos,
@@ -986,7 +985,7 @@ def _efc_limit_ball(
jntmargin,
Jqvel,
0.0,
ConstraintType.LIMIT_JOINT.value,
ConstraintType.LIMIT_JOINT,
jntid,
efc_type_out,
efc_id_out,
@@ -1036,7 +1035,6 @@ def _efc_limit_tendon(
efc_frictionloss_out: wp.array2d(dtype=float),
):
worldid, tenlimitedid = wp.tid()
timestep = opt_timestep[worldid]
tenid = tendon_limited_adr[tenlimitedid]
tenrange = tendon_range[worldid, tenid]
@@ -1060,7 +1058,7 @@ def _efc_limit_tendon(
scl = float(dist_min < dist_max) * 2.0 - 1.0
adr = tendon_adr[tenid]
if wrap_type[adr] == wp.static(types.WrapType.JOINT.value):
if wrap_type[adr] == types.WrapType.JOINT:
ten_num = tendon_num[tenid]
for i in range(ten_num):
dofadr = jnt_dofadr[wrap_objid[adr + i]]
@@ -1075,7 +1073,7 @@ def _efc_limit_tendon(
_update_efc_row(
worldid,
timestep,
opt_timestep[worldid],
refsafe_in,
efcid,
pos,
@@ -1086,7 +1084,7 @@ def _efc_limit_tendon(
tenmargin,
Jqvel,
0.0,
ConstraintType.LIMIT_TENDON.value,
ConstraintType.LIMIT_TENDON,
tenid,
efc_type_out,
efc_id_out,
@@ -1159,8 +1157,8 @@ def _efc_contact_pyramidal(
if active:
worldid = worldid_in[conid]
efcid = wp.atomic_add(nefc_out, worldid, 1)
efcid = wp.atomic_add(nefc_out, worldid, 1)
if efcid >= njmax_in:
contact_efc_address_out[conid, dimid] = -1
return
@@ -1234,9 +1232,9 @@ def _efc_contact_pyramidal(
Jqvel += J * qvel_in[worldid, i]
if condim == 1:
efc_type = int(ConstraintType.CONTACT_FRICTIONLESS.value)
efc_type = ConstraintType.CONTACT_FRICTIONLESS
else:
efc_type = int(ConstraintType.CONTACT_PYRAMIDAL.value)
efc_type = ConstraintType.CONTACT_PYRAMIDAL
_update_efc_row(
worldid,
@@ -1323,8 +1321,8 @@ def _efc_contact_elliptic(
if active:
worldid = worldid_in[conid]
efcid = wp.atomic_add(nefc_out, worldid, 1)
efcid = wp.atomic_add(nefc_out, worldid, 1)
if efcid >= njmax_in:
contact_efc_address_out[conid, dimid] = -1
return
@@ -1402,9 +1400,9 @@ def _efc_contact_elliptic(
pos_aref = 0.0
if condim == 1:
efc_type = int(ConstraintType.CONTACT_FRICTIONLESS.value)
efc_type = ConstraintType.CONTACT_FRICTIONLESS
else:
efc_type = int(ConstraintType.CONTACT_ELLIPTIC.value)
efc_type = ConstraintType.CONTACT_ELLIPTIC
_update_efc_row(
worldid,
@@ -1454,22 +1452,13 @@ def make_constraint(m: types.Model, d: types.Data):
wp.launch(
zero_constraint_counts,
dim=d.nworld,
inputs=[
d.ne,
d.ne_connect,
d.ne_weld,
d.ne_jnt,
d.ne_ten,
d.nf,
d.nl,
d.nefc,
],
inputs=[d.ne, d.ne_connect, d.ne_weld, d.ne_jnt, d.ne_ten, d.nf, d.nl, d.nefc],
)
if not (m.opt.disableflags & types.DisableBit.CONSTRAINT.value):
if not (m.opt.disableflags & types.DisableBit.CONSTRAINT):
refsafe = m.opt.disableflags & types.DisableBit.REFSAFE
if not (m.opt.disableflags & types.DisableBit.EQUALITY.value):
if not (m.opt.disableflags & types.DisableBit.EQUALITY):
wp.launch(
_efc_equality_connect,
dim=(d.nworld, m.eq_connect_adr.size),
@@ -1632,19 +1621,12 @@ def make_constraint(m: types.Model, d: types.Data):
wp.launch(
_num_equality,
dim=(d.nworld,),
inputs=[
d.ne_connect,
d.ne_weld,
d.ne_jnt,
d.ne_ten,
],
outputs=[
d.ne,
],
dim=d.nworld,
inputs=[d.ne_connect, d.ne_weld, d.ne_jnt, d.ne_ten],
outputs=[d.ne],
)
if not (m.opt.disableflags & types.DisableBit.FRICTIONLOSS.value):
if not (m.opt.disableflags & types.DisableBit.FRICTIONLOSS):
wp.launch(
_efc_friction_dof,
dim=(d.nworld, m.nv),
@@ -1684,6 +1666,7 @@ def make_constraint(m: types.Model, d: types.Data):
m.tendon_solimp_fri,
m.tendon_frictionloss,
m.tendon_invweight0,
d.njmax,
d.qvel,
d.ten_J,
refsafe,
@@ -1704,122 +1687,116 @@ def make_constraint(m: types.Model, d: types.Data):
)
# limit
if not (m.opt.disableflags & types.DisableBit.LIMIT.value):
limit_ball = m.jnt_limited_ball_adr.size > 0
if limit_ball:
wp.launch(
_efc_limit_ball,
dim=(d.nworld, m.jnt_limited_ball_adr.size),
inputs=[
m.nv,
m.opt.timestep,
m.jnt_qposadr,
m.jnt_dofadr,
m.jnt_solref,
m.jnt_solimp,
m.jnt_range,
m.jnt_margin,
m.jnt_limited_ball_adr,
m.dof_invweight0,
d.njmax,
d.qpos,
d.qvel,
refsafe,
],
outputs=[
d.nl,
d.nefc,
d.efc.type,
d.efc.id,
d.efc.J,
d.efc.pos,
d.efc.margin,
d.efc.D,
d.efc.vel,
d.efc.aref,
d.efc.frictionloss,
],
)
if not (m.opt.disableflags & types.DisableBit.LIMIT):
wp.launch(
_efc_limit_ball,
dim=(d.nworld, m.jnt_limited_ball_adr.size),
inputs=[
m.nv,
m.opt.timestep,
m.jnt_qposadr,
m.jnt_dofadr,
m.jnt_solref,
m.jnt_solimp,
m.jnt_range,
m.jnt_margin,
m.jnt_limited_ball_adr,
m.dof_invweight0,
d.njmax,
d.qpos,
d.qvel,
refsafe,
],
outputs=[
d.nl,
d.nefc,
d.efc.type,
d.efc.id,
d.efc.J,
d.efc.pos,
d.efc.margin,
d.efc.D,
d.efc.vel,
d.efc.aref,
d.efc.frictionloss,
],
)
limit_slide_hinge = m.jnt_limited_slide_hinge_adr.size > 0
if limit_slide_hinge:
wp.launch(
_efc_limit_slide_hinge,
dim=(d.nworld, m.jnt_limited_slide_hinge_adr.size),
inputs=[
m.nv,
m.opt.timestep,
m.jnt_qposadr,
m.jnt_dofadr,
m.jnt_solref,
m.jnt_solimp,
m.jnt_range,
m.jnt_margin,
m.jnt_limited_slide_hinge_adr,
m.dof_invweight0,
d.njmax,
d.qpos,
d.qvel,
refsafe,
],
outputs=[
d.nl,
d.nefc,
d.efc.type,
d.efc.id,
d.efc.J,
d.efc.pos,
d.efc.margin,
d.efc.D,
d.efc.vel,
d.efc.aref,
d.efc.frictionloss,
],
)
wp.launch(
_efc_limit_slide_hinge,
dim=(d.nworld, m.jnt_limited_slide_hinge_adr.size),
inputs=[
m.nv,
m.opt.timestep,
m.jnt_qposadr,
m.jnt_dofadr,
m.jnt_solref,
m.jnt_solimp,
m.jnt_range,
m.jnt_margin,
m.jnt_limited_slide_hinge_adr,
m.dof_invweight0,
d.njmax,
d.qpos,
d.qvel,
refsafe,
],
outputs=[
d.nl,
d.nefc,
d.efc.type,
d.efc.id,
d.efc.J,
d.efc.pos,
d.efc.margin,
d.efc.D,
d.efc.vel,
d.efc.aref,
d.efc.frictionloss,
],
)
limit_tendon = m.tendon_limited_adr.size > 0
if limit_tendon:
wp.launch(
_efc_limit_tendon,
dim=(d.nworld, m.tendon_limited_adr.size),
inputs=[
m.nv,
m.opt.timestep,
m.jnt_dofadr,
m.tendon_adr,
m.tendon_num,
m.tendon_limited_adr,
m.tendon_solref_lim,
m.tendon_solimp_lim,
m.tendon_range,
m.tendon_margin,
m.tendon_invweight0,
m.wrap_objid,
m.wrap_type,
d.njmax,
d.qvel,
d.ten_length,
d.ten_J,
refsafe,
],
outputs=[
d.nl,
d.nefc,
d.efc.type,
d.efc.id,
d.efc.J,
d.efc.pos,
d.efc.margin,
d.efc.D,
d.efc.vel,
d.efc.aref,
d.efc.frictionloss,
],
)
wp.launch(
_efc_limit_tendon,
dim=(d.nworld, m.tendon_limited_adr.size),
inputs=[
m.nv,
m.opt.timestep,
m.jnt_dofadr,
m.tendon_adr,
m.tendon_num,
m.tendon_limited_adr,
m.tendon_solref_lim,
m.tendon_solimp_lim,
m.tendon_range,
m.tendon_margin,
m.tendon_invweight0,
m.wrap_objid,
m.wrap_type,
d.njmax,
d.qvel,
d.ten_length,
d.ten_J,
refsafe,
],
outputs=[
d.nl,
d.nefc,
d.efc.type,
d.efc.id,
d.efc.J,
d.efc.pos,
d.efc.margin,
d.efc.D,
d.efc.vel,
d.efc.aref,
d.efc.frictionloss,
],
)
# contact
if not (m.opt.disableflags & types.DisableBit.CONTACT.value):
if m.opt.cone == types.ConeType.PYRAMIDAL.value:
if not (m.opt.disableflags & types.DisableBit.CONTACT):
if m.opt.cone == types.ConeType.PYRAMIDAL:
wp.launch(
_efc_contact_pyramidal,
dim=(d.nconmax, 2 * (m.condim_max - 1) if m.condim_max > 1 else 1),
@@ -1863,7 +1840,7 @@ def make_constraint(m: types.Model, d: types.Data):
d.efc.frictionloss,
],
)
elif m.opt.cone == types.ConeType.ELLIPTIC.value:
elif m.opt.cone == types.ConeType.ELLIPTIC:
wp.launch(
_efc_contact_elliptic,
dim=(d.nconmax, m.condim_max),
mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint_test.py
Vendored
+11 -12
View File
@@ -21,10 +21,9 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import ConeType
from mujoco.mjx.third_party.mujoco_warp import test_data
# tolerance for difference between MuJoCo and MJWarp constraint calculations,
# mostly due to float precision
@@ -143,13 +142,13 @@ class ConstraintTest(parameterized.TestCase):
</mujoco>
"""
_, mjd, m, d = test_util.fixture(xml=xml, cone=cone, keyframe=0)
_, mjd, m, d = test_data.fixture(xml=xml, keyframe=0, overrides={"opt.cone": cone})
# fill with nan to check whether we are not reading uninitialized values
for arr in (d.efc.J, d.efc.D, d.efc.aref, d.efc.pos, d.efc.margin):
arr.fill_(wp.nan)
mjwarp.make_constraint(m, d)
mjw.make_constraint(m, d)
_assert_eq(d.ncon.numpy()[0], mjd.ncon, "ncon")
_assert_eq(d.efc.J.numpy()[0, : mjd.nefc, :].reshape(-1), mjd.efc_J, "efc_J")
@@ -165,14 +164,14 @@ class ConstraintTest(parameterized.TestCase):
def test_constraints(self, cone):
"""Test constraints."""
for key in range(3):
_, mjd, m, d = test_util.fixture("constraints.xml", sparse=False, cone=cone, keyframe=key)
_, mjd, m, d = test_data.fixture("constraints.xml", keyframe=key, overrides={"opt.cone": cone})
for arr in (d.ne, d.nefc, d.nf, d.nl, d.efc.type):
arr.fill_(-1)
for arr in (d.efc.J, d.efc.D, d.efc.vel, d.efc.aref, d.efc.pos, d.efc.margin):
arr.fill_(wp.nan)
mjwarp.make_constraint(m, d)
mjw.make_constraint(m, d)
_assert_eq(d.ne.numpy()[0], mjd.ne, "ne")
_assert_eq(d.nefc.numpy()[0], mjd.nefc, "nefc")
@@ -183,14 +182,14 @@ class ConstraintTest(parameterized.TestCase):
def test_limit_tendon(self):
"""Test limit tendon constraints."""
for keyframe in range(-1, 1):
_, mjd, m, d = test_util.fixture("tendon/tendon_limit.xml", sparse=False, keyframe=keyframe)
_, mjd, m, d = test_data.fixture("tendon/tendon_limit.xml", keyframe=keyframe)
for arr in (d.nefc, d.nl, d.efc.type):
arr.fill_(-1)
for arr in (d.efc.J, d.efc.D, d.efc.vel, d.efc.aref, d.efc.pos, d.efc.margin):
arr.fill_(wp.nan)
mjwarp.make_constraint(m, d)
mjw.make_constraint(m, d)
_assert_eq(d.nefc.numpy()[0], mjd.nefc, "nefc")
_assert_eq(d.nl.numpy()[0], mjd.nl, "nl")
@@ -199,7 +198,7 @@ class ConstraintTest(parameterized.TestCase):
def test_equality_tendon(self):
"""Test equality tendon constraints."""
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<option>
@@ -247,7 +246,7 @@ class ConstraintTest(parameterized.TestCase):
for arr in (d.efc.J, d.efc.D, d.efc.vel, d.efc.aref, d.efc.pos, d.efc.margin):
arr.fill_(wp.nan)
mjwarp.make_constraint(m, d)
mjw.make_constraint(m, d)
_assert_eq(d.nefc.numpy()[0], mjd.nefc, "nefc")
_assert_eq(d.ne.numpy()[0], mjd.ne, "ne")
mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py
Vendored
+17 -15
View File
@@ -34,6 +34,7 @@ def _qderiv_actuator_passive(
# Model:
nu: int,
opt_timestep: wp.array(dtype=float),
opt_disableflags: int,
opt_is_sparse: bool,
dof_damping: wp.array2d(dtype=float),
actuator_dyntype: wp.array(dtype=int),
@@ -51,29 +52,28 @@ def _qderiv_actuator_passive(
# In:
qMi: wp.array(dtype=int),
qMj: wp.array(dtype=int),
actuation_enabled: bool,
passive_enabled: bool,
# Data out:
qM_integration_out: wp.array3d(dtype=float),
):
worldid, elemid = wp.tid()
dofiid = qMi[elemid]
dofjid = qMj[elemid]
qderiv = float(0.0)
for actid in range(nu):
if actuation_enabled:
if actuator_gaintype[actid] == int(GainType.AFFINE.value):
if not opt_disableflags & DisableBit.ACTUATION:
for actid in range(nu):
if actuator_gaintype[actid] == GainType.AFFINE:
gain = actuator_gainprm[worldid, actid][2]
else:
gain = 0.0
if actuator_biastype[actid] == int(BiasType.AFFINE.value):
if actuator_biastype[actid] == BiasType.AFFINE:
bias = actuator_biasprm[worldid, actid][2]
else:
bias = 0.0
if actuator_dyntype[actid] != int(DynType.NONE.value):
if actuator_dyntype[actid] != DynType.NONE:
act_first = actuator_actadr[actid]
act_last = act_first + actuator_actnum[actid] - 1
vel = bias + gain * act_in[worldid, act_last]
@@ -82,7 +82,9 @@ def _qderiv_actuator_passive(
qderiv += actuator_moment_in[worldid, actid, dofiid] * actuator_moment_in[worldid, actid, dofjid] * vel
if passive_enabled and dofiid == dofjid:
# TODO(team): fluid model derivative
if not opt_disableflags & DisableBit.DAMPER and dofiid == dofjid:
qderiv -= dof_damping[worldid, dofiid]
qderiv *= opt_timestep[worldid]
@@ -139,18 +141,17 @@ def deriv_smooth_vel(m: Model, d: Data, flg_forward: bool = True):
flg_forward (bool, optional): If True forward dynamics else inverse dynamics routine.
Default is True.
"""
actuation_enabled = not (m.opt.disableflags & DisableBit.ACTUATION)
passive_enabled = not (m.opt.disableflags & (DisableBit.SPRING | DisableBit.DAMPER))
qMi = m.qM_fullm_i if m.opt.is_sparse else m.dof_tri_row
qMj = m.qM_fullm_j if m.opt.is_sparse else m.dof_tri_col
if actuation_enabled or passive_enabled:
if ~(m.opt.disableflags & (DisableBit.ACTUATION | DisableBit.DAMPER)):
wp.launch(
_qderiv_actuator_passive,
dim=(d.nworld, qMi.size),
inputs=[
m.nu,
m.opt.timestep,
m.opt.disableflags,
m.opt.is_sparse,
m.dof_damping,
m.actuator_dyntype,
@@ -166,13 +167,14 @@ def deriv_smooth_vel(m: Model, d: Data, flg_forward: bool = True):
d.qM,
qMi,
qMj,
actuation_enabled,
passive_enabled,
],
outputs=[d.qM_integration],
)
else:
# TODO(team): directly utilize qM for these settings
wp.copy(d.qM_integration, d.qM)
if passive_enabled:
if not m.opt.disableflags & DisableBit.DAMPER:
wp.launch(
_qderiv_tendon_damping,
dim=(d.nworld, qMi.size),
mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py
Vendored
+26 -26
View File
@@ -80,7 +80,7 @@ def _next_position(
qpos_next = qpos_out[worldid]
qvel = qvel_in[worldid]
if jnttype == wp.static(JointType.FREE.value):
if jnttype == JointType.FREE:
qpos_pos = wp.vec3(qpos[qpos_adr], qpos[qpos_adr + 1], qpos[qpos_adr + 2])
qvel_lin = wp.vec3(qvel[dof_adr], qvel[dof_adr + 1], qvel[dof_adr + 2]) * qvel_scale_in
@@ -104,7 +104,7 @@ def _next_position(
qpos_next[qpos_adr + 5] = qpos_quat_new[2]
qpos_next[qpos_adr + 6] = qpos_quat_new[3]
elif jnttype == wp.static(JointType.BALL.value):
elif jnttype == JointType.BALL:
qpos_quat = wp.quat(
qpos[qpos_adr + 0],
qpos[qpos_adr + 1],
@@ -157,7 +157,7 @@ def _next_act(
clamp: bool,
) -> float:
# advance actuation
if actuator_dyntype == wp.static(DynType.FILTEREXACT.value):
if actuator_dyntype == DynType.FILTEREXACT:
tau = wp.max(MJ_MINVAL, actuator_dynprm[0])
act = act_in + act_dot_scale * act_dot_in * tau * (1.0 - wp.exp(-opt_timestep / tau))
else:
@@ -393,7 +393,7 @@ def euler(m: Model, d: Data):
"""Euler integrator, semi-implicit in velocity."""
# integrate damping implicitly
if not m.opt.disableflags & DisableBit.EULERDAMP.value:
if not m.opt.disableflags & (DisableBit.EULERDAMP | DisableBit.DAMPER):
if m.opt.is_sparse:
_euler_sparse(m, d)
else:
@@ -520,12 +520,7 @@ def rungekutta4(m: Model, d: Data):
@event_scope
def implicit(m: Model, d: Data):
"""Integrates fully implicit in velocity."""
# compile-time constants
passive_enabled = not m.opt.disableflags & (DisableBit.SPRING.value | DisableBit.DAMPER.value)
actuation_enabled = (not m.opt.disableflags & DisableBit.ACTUATION.value) and m.actuator_affine_bias_gain
if passive_enabled or actuation_enabled:
if ~(m.opt.disableflags | ~(DisableBit.ACTUATION | DisableBit.SPRING | DisableBit.DAMPER)):
derivative.deriv_smooth_vel(m, d)
smooth.factor_solve_i(
m, d, d.qM_integration, d.qLD_integration, d.qLDiagInv_integration, d.qacc_integration, d.qfrc_integration
@@ -553,10 +548,8 @@ def fwd_position(m: Model, d: Data, factorize: bool = True):
smooth.transmission(m, d)
# TODO(team): sparse actuator_moment version
def _actuator_velocity(m: Model, d: Data):
NV = m.nv
@cache_kernel
def _create_actuator_velocity_kernel(NV: int):
@nested_kernel(module="unique", enable_backward=False)
def actuator_velocity(
# Data in:
@@ -572,8 +565,15 @@ def _actuator_velocity(m: Model, d: Data):
actuator_velocity_tile = wp.tile_reduce(wp.add, moment_qvel_tile)
actuator_velocity_out[worldid, actid] = actuator_velocity_tile[0]
return actuator_velocity
# TODO(team): sparse actuator_moment version
def _actuator_velocity(m: Model, d: Data):
NV = m.nv
wp.launch_tiled(
actuator_velocity,
_create_actuator_velocity_kernel(NV),
dim=(d.nworld, m.nu),
inputs=[
d.qvel,
@@ -681,13 +681,13 @@ def _actuator_force(
act_last = act_first + actuator_actnum[uid] - 1
dyntype = actuator_dyntype[uid]
if dyntype == int(DynType.INTEGRATOR.value):
if dyntype == DynType.INTEGRATOR:
act_dot = ctrl
elif dyntype == int(DynType.FILTER.value) or dyntype == int(DynType.FILTEREXACT.value):
elif dyntype == DynType.FILTER or dyntype == DynType.FILTEREXACT:
dynprm = actuator_dynprm[worldid, uid]
act = act_in[worldid, act_last]
act_dot = (ctrl - act) / wp.max(dynprm[0], MJ_MINVAL)
elif dyntype == int(DynType.MUSCLE.value):
elif dyntype == DynType.MUSCLE:
dynprm = actuator_dynprm[worldid, uid]
act = act_in[worldid, act_last]
act_dot = util_misc.muscle_dynamics(ctrl, act, dynprm)
@@ -697,7 +697,7 @@ def _actuator_force(
act_dot_out[worldid, act_last] = act_dot
if actuator_actearly[uid]:
if dyntype == int(DynType.INTEGRATOR.value) or dyntype == int(DynType.NONE.value):
if dyntype == DynType.INTEGRATOR or dyntype == DynType.NONE:
dynprm = actuator_dynprm[worldid, uid]
act = act_in[worldid, act_last]
@@ -722,11 +722,11 @@ def _actuator_force(
gainprm = actuator_gainprm[worldid, uid]
gain = 0.0
if gaintype == int(GainType.FIXED.value):
if gaintype == GainType.FIXED:
gain = gainprm[0]
elif gaintype == int(GainType.AFFINE.value):
elif gaintype == GainType.AFFINE:
gain = gainprm[0] + gainprm[1] * length + gainprm[2] * velocity
elif gaintype == int(GainType.MUSCLE.value):
elif gaintype == GainType.MUSCLE:
acc0 = actuator_acc0[uid]
lengthrange = actuator_lengthrange[uid]
gain = util_misc.muscle_gain(length, velocity, lengthrange, acc0, gainprm)
@@ -736,9 +736,9 @@ def _actuator_force(
biasprm = actuator_biasprm[worldid, uid]
bias = 0.0 # BiasType.NONE
if biastype == int(BiasType.AFFINE.value):
if biastype == BiasType.AFFINE:
bias = biasprm[0] + biasprm[1] * length + biasprm[2] * velocity
elif biastype == int(BiasType.MUSCLE.value):
elif biastype == BiasType.MUSCLE:
acc0 = actuator_acc0[uid]
lengthrange = actuator_lengthrange[uid]
bias = util_misc.muscle_bias(length, lengthrange, acc0, biasprm)
@@ -766,7 +766,7 @@ def _tendon_actuator_force(
):
worldid, actid = wp.tid()
if actuator_trntype[actid] == int(TrnType.TENDON.value):
if actuator_trntype[actid] == TrnType.TENDON:
tenid = actuator_trnid[actid][0]
# TODO(team): only compute for tendons with force limits?
wp.atomic_add(ten_actfrc_out[worldid], tenid, actuator_force_in[worldid, actid])
@@ -786,7 +786,7 @@ def _tendon_actuator_force_clamp(
):
worldid, actid = wp.tid()
if actuator_trntype[actid] == int(TrnType.TENDON.value):
if actuator_trntype[actid] == TrnType.TENDON:
tenid = actuator_trnid[actid][0]
if tendon_actfrclimited[tenid]:
ten_actfrc = ten_actfrc_in[worldid, tenid]
mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward_test.py
Vendored
+102 -81
View File
@@ -21,12 +21,13 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.types import BiasType
from mujoco.mjx.third_party.mujoco_warp._src.types import GainType
from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import BiasType
from mujoco.mjx.third_party.mujoco_warp import DisableBit
from mujoco.mjx.third_party.mujoco_warp import EnableBit
from mujoco.mjx.third_party.mujoco_warp import GainType
from mujoco.mjx.third_party.mujoco_warp import IntegratorType
from mujoco.mjx.third_party.mujoco_warp import test_data
# tolerance for difference between MuJoCo and mjwarp smooth calculations - mostly
# due to float precision
@@ -43,39 +44,35 @@ class ForwardTest(parameterized.TestCase):
# TODO(team): test sparse when actuator_moment and/or ten_J have sparse representation
@parameterized.product(xml=["humanoid/humanoid.xml", "pendula.xml"])
def test_fwd_velocity(self, xml):
_, mjd, m, d = test_util.fixture(xml, kick=True)
_, mjd, m, d = test_data.fixture(xml, qvel_noise=0.01, ctrl_noise=0.1)
for arr in (d.actuator_velocity, d.qfrc_bias):
arr.zero_()
mjwarp.fwd_velocity(m, d)
mjw.fwd_velocity(m, d)
_assert_eq(d.actuator_velocity.numpy()[0], mjd.actuator_velocity, "actuator_velocity")
_assert_eq(d.qfrc_bias.numpy()[0], mjd.qfrc_bias, "qfrc_bias")
def test_fwd_velocity_tendon(self):
_, mjd, m, d = test_util.fixture("tendon/fixed.xml", sparse=False)
_, mjd, m, d = test_data.fixture("tendon/fixed.xml")
d.ten_velocity.zero_()
mjwarp.fwd_velocity(m, d)
mjw.fwd_velocity(m, d)
_assert_eq(d.ten_velocity.numpy()[0], mjd.ten_velocity, "ten_velocity")
@parameterized.parameters(
("actuation/actuation.xml", True),
("actuation/actuation.xml", False),
("actuation/actuators.xml", True),
("actuation/actuators.xml", False),
("actuation/muscle.xml", True),
("actuation/muscle.xml", False),
@parameterized.product(
xml=("actuation/actuation.xml", "actuation/actuators.xml", "actuation/muscle.xml"),
disableflags=(0, DisableBit.ACTUATION),
)
def test_actuation(self, xml, actuation):
mjm, mjd, m, d = test_util.fixture(xml, actuation=actuation, keyframe=0)
def test_actuation(self, xml, disableflags):
mjm, mjd, m, d = test_data.fixture(xml, keyframe=0, overrides={"opt.disableflags": disableflags})
for arr in (d.qfrc_actuator, d.actuator_force, d.act_dot):
arr.zero_()
mjwarp.fwd_actuation(m, d)
mjw.fwd_actuation(m, d)
_assert_eq(d.qfrc_actuator.numpy()[0], mjd.qfrc_actuator, "qfrc_actuator")
_assert_eq(d.actuator_force.numpy()[0], mjd.actuator_force, "actuator_force")
@@ -85,15 +82,15 @@ class ForwardTest(parameterized.TestCase):
# next activations
mujoco.mj_step(mjm, mjd)
mjwarp.step(m, d)
mjw.step(m, d)
_assert_eq(d.act.numpy()[0], mjd.act, "act")
# TODO(team): test actearly
@parameterized.parameters(True, False)
def test_clampctrl(self, clampctrl):
_, mjd, _, d = test_util.fixture(
@parameterized.parameters(0, DisableBit.CLAMPCTRL)
def test_clampctrl(self, disableflags):
_, mjd, _, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -110,43 +107,48 @@ class ForwardTest(parameterized.TestCase):
</keyframe>
</mujoco>
""",
clampctrl=clampctrl,
keyframe=0,
overrides={"opt.disableflags": disableflags},
)
_assert_eq(d.ctrl.numpy()[0], mjd.ctrl, "ctrl")
def test_fwd_acceleration(self):
_, mjd, m, d = test_util.fixture("humanoid/humanoid.xml", kick=True)
_, mjd, m, d = test_data.fixture("humanoid/humanoid.xml", qvel_noise=0.01, ctrl_noise=0.1)
for arr in (d.qfrc_smooth, d.qacc_smooth):
arr.zero_()
mjwarp.fwd_acceleration(m, d)
mjw.fwd_acceleration(m, d)
_assert_eq(d.qfrc_smooth.numpy()[0], mjd.qfrc_smooth, "qfrc_smooth")
_assert_eq(d.qacc_smooth.numpy()[0], mjd.qacc_smooth, "qacc_smooth")
@parameterized.parameters((True, True), (True, False), (False, True), (False, False))
def test_euler(self, eulerdamp, sparse):
mjm, mjd, _, _ = test_util.fixture("pendula.xml", kick=True, eulerdamp=eulerdamp, sparse=sparse)
@parameterized.product(
jacobian=(mujoco.mjtJacobian.mjJAC_AUTO, mujoco.mjtJacobian.mjJAC_DENSE), disableflags=(0, DisableBit.EULERDAMP)
)
def test_euler(self, jacobian, disableflags):
mjm, mjd, _, _ = test_data.fixture(
"pendula.xml",
qvel_noise=0.01,
ctrl_noise=0.1,
overrides={"opt.jacobian": jacobian, "opt.disableflags": DisableBit.CONTACT | disableflags},
)
self.assertTrue((mjm.dof_damping > 0).any())
m = mjwarp.put_model(mjm)
d = mjwarp.put_data(mjm, mjd)
m = mjw.put_model(mjm)
d = mjw.put_data(mjm, mjd)
mujoco.mj_forward(mjm, mjd)
mujoco.mj_Euler(mjm, mjd)
mjwarp.solve(m, d) # compute efc.Ma
mjwarp.euler(m, d)
mjw.solve(m, d) # compute efc.Ma
mjw.euler(m, d)
_assert_eq(d.qpos.numpy()[0], mjd.qpos, "qpos")
_assert_eq(d.qvel.numpy()[0], mjd.qvel, "qvel")
_assert_eq(d.act.numpy()[0], mjd.act, "act")
def test_rungekutta4(self):
mjm, mjd, m, d = test_util.fixture(
mjm, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<option integrator="RK4" iterations="1" ls_iterations="1">
@@ -170,7 +172,7 @@ class ForwardTest(parameterized.TestCase):
keyframe=0,
)
mjwarp.rungekutta4(m, d)
mjw.rungekutta4(m, d)
mujoco.mj_RungeKutta(mjm, mjd, 4)
_assert_eq(d.qpos.numpy()[0], mjd.qpos, "qpos")
@@ -183,20 +185,25 @@ class ForwardTest(parameterized.TestCase):
d.qpos = wp.ones_like(d.qpos)
d.qvel = wp.ones_like(d.qvel)
d.act = wp.ones_like(d.act)
mjwarp.rungekutta4(m, d)
mjw.rungekutta4(m, d)
return d.qpos
_assert_eq(rk_step().numpy()[0], rk_step().numpy()[0], "qpos")
@parameterized.product(actuation=[True, False], passive=[True, False], sparse=[True, False])
def test_implicit(self, actuation, passive, sparse):
mjm, mjd, _, _ = test_util.fixture(
@parameterized.product(
jacobian=(mujoco.mjtJacobian.mjJAC_AUTO, mujoco.mjtJacobian.mjJAC_DENSE),
actuation=(0, DisableBit.ACTUATION),
spring=(0, DisableBit.SPRING),
damper=(0, DisableBit.DAMPER),
)
def test_implicit(self, jacobian, actuation, spring, damper):
mjm, mjd, _, _ = test_data.fixture(
"pendula.xml",
integrator=IntegratorType.IMPLICITFAST,
actuation=actuation,
spring=passive,
damper=passive,
sparse=sparse,
overrides={
"opt.jacobian": jacobian,
"opt.disableflags": DisableBit.CONTACT | actuation | spring | damper,
"opt.integrator": IntegratorType.IMPLICITFAST,
},
)
mjm.actuator_gainprm[:, 2] = np.random.uniform(low=0.01, high=10.0, size=mjm.actuator_gainprm[:, 2].shape)
@@ -216,78 +223,93 @@ class ForwardTest(parameterized.TestCase):
mjd.act = np.random.uniform(low=-0.1, high=0.1, size=mjd.act.shape)
mujoco.mj_forward(mjm, mjd)
m = mjwarp.put_model(mjm)
d = mjwarp.put_data(mjm, mjd)
m = mjw.put_model(mjm)
d = mjw.put_data(mjm, mjd)
mujoco.mj_implicit(mjm, mjd)
mjwarp.solve(m, d) # compute efc.Ma
mjwarp.implicit(m, d)
mjw.solve(m, d) # compute efc.Ma
mjw.implicit(m, d)
_assert_eq(d.qpos.numpy()[0], mjd.qpos, "qpos")
_assert_eq(d.act.numpy()[0], mjd.act, "act")
def test_implicit_position(self):
mjm, mjd, m, d = test_util.fixture("actuation/position.xml", keyframe=0, integrator=IntegratorType.IMPLICITFAST, kick=True)
mjm, mjd, m, d = test_data.fixture(
"actuation/position.xml",
keyframe=0,
qvel_noise=0.01,
ctrl_noise=0.1,
overrides={"opt.integrator": IntegratorType.IMPLICITFAST},
)
mujoco.mj_implicit(mjm, mjd)
mjwarp.solve(m, d) # compute efc.Ma
mjwarp.implicit(m, d)
mjw.solve(m, d) # compute efc.Ma
mjw.implicit(m, d)
_assert_eq(d.qpos.numpy()[0], mjd.qpos, "qpos")
_assert_eq(d.qvel.numpy()[0], mjd.qvel, "qvel")
def test_implicit_tendon_damping(self):
mjm, mjd, m, d = test_util.fixture("tendon/damping.xml", keyframe=0, integrator=IntegratorType.IMPLICITFAST, kick=True)
mjm, mjd, m, d = test_data.fixture(
"tendon/damping.xml",
keyframe=0,
qvel_noise=0.01,
ctrl_noise=0.1,
overrides={"opt.integrator": IntegratorType.IMPLICITFAST},
)
mujoco.mj_implicit(mjm, mjd)
mjwarp.solve(m, d) # compute efc.Ma
mjwarp.implicit(m, d)
mjw.solve(m, d) # compute efc.Ma
mjw.implicit(m, d)
_assert_eq(d.qpos.numpy()[0], mjd.qpos, "qpos")
_assert_eq(d.qvel.numpy()[0], mjd.qvel, "qvel")
@absltest.skipIf(not wp.get_device().is_cuda, "Skipping test that requires GPU.")
@parameterized.product(
xml=("humanoid/humanoid.xml", "pendula.xml", "constraints.xml", "collision.xml"), graph_conditional=(True, False)
)
def test_graph_capture(self, xml, graph_conditional):
# TODO(team): test more environments
if wp.get_device().is_cuda and wp.config.verify_cuda == False:
_, _, m, d = test_util.fixture(xml)
m.opt.graph_conditional = graph_conditional
_, _, m, d = test_data.fixture(xml, overrides={"opt.graph_conditional": graph_conditional})
with wp.ScopedCapture() as capture:
mjwarp.step(m, d)
with wp.ScopedCapture() as capture:
mjw.step(m, d)
# step a few times to ensure no errors at the step boundary
wp.capture_launch(capture.graph)
wp.capture_launch(capture.graph)
wp.capture_launch(capture.graph)
# step a few times to ensure no errors at the step boundary
wp.capture_launch(capture.graph)
wp.capture_launch(capture.graph)
wp.capture_launch(capture.graph)
self.assertTrue(d.time.numpy()[0] > 0.0)
self.assertTrue(d.time.numpy()[0] > 0.0)
def test_forward_energy(self):
_, mjd, _, d = test_util.fixture("humanoid/humanoid.xml", kick=True, energy=True)
_, mjd, _, d = test_data.fixture(
"humanoid/humanoid.xml", qvel_noise=0.01, ctrl_noise=0.1, overrides={"opt.enableflags": EnableBit.ENERGY}
)
_assert_eq(d.energy.numpy()[0][0], mjd.energy[0], "potential energy")
_assert_eq(d.energy.numpy()[0][1], mjd.energy[1], "kinetic energy")
def test_tendon_actuator_force_limits(self):
for keyframe in range(7):
_, mjd, m, d = test_util.fixture("actuation/tendon_force_limit.xml", keyframe=keyframe)
_, mjd, m, d = test_data.fixture("actuation/tendon_force_limit.xml", keyframe=keyframe)
d.actuator_force.zero_()
mjwarp.forward(m, d)
mjw.forward(m, d)
_assert_eq(d.actuator_force.numpy()[0], mjd.actuator_force, "actuator_force")
@parameterized.parameters(("humanoid/humanoid.xml", True), ("humanoid/humanoid.xml", False))
@parameterized.product(xml=("humanoid/humanoid.xml",), energy=(0, EnableBit.ENERGY))
def test_step1(self, xml, energy):
# TODO(team): test more mjcfs
mjm, mjd, m, d = test_util.fixture(xml, kick=True, energy=energy)
mjm, mjd, m, d = test_data.fixture(
xml, qpos_noise=0.1, qvel_noise=0.01, ctrl_noise=0.1, overrides={"opt.enableflags": energy}
)
# some of the fields updated by step1
step1_field = [
@@ -360,7 +382,7 @@ class ForwardTest(parameterized.TestCase):
attr.zero_()
mujoco.mj_step1(mjm, mjd)
mjwarp.step1(m, d)
mjw.step1(m, d)
for arr in step1_field:
d_arr, is_nefc = _getattr(arr)
@@ -395,7 +417,7 @@ class ForwardTest(parameterized.TestCase):
vec_wp = wp.array(vec, dtype=float)
res_wp = wp.zeros((1, mjm.nv), dtype=float)
mjwarp.solve_m(m, d, res_wp, vec_wp)
mjw.solve_m(m, d, res_wp, vec_wp)
d_arr = res_wp.numpy()[0]
mjd_arr = res[0]
@@ -407,13 +429,12 @@ class ForwardTest(parameterized.TestCase):
# TODO(team): sensor_pos
# TODO(team): sensor_vel
@parameterized.parameters(
("humanoid/humanoid.xml", IntegratorType.EULER),
("humanoid/humanoid.xml", IntegratorType.IMPLICITFAST),
("humanoid/humanoid.xml", IntegratorType.RK4),
@parameterized.product(
xml=("humanoid/humanoid.xml",),
integrator=(IntegratorType.EULER, IntegratorType.IMPLICITFAST, IntegratorType.RK4),
)
def test_step2(self, xml, integrator):
mjm, mjd, m, _ = test_util.fixture(xml, kick=True, integrator=integrator)
mjm, mjd, m, _ = test_data.fixture(xml, qvel_noise=0.01, ctrl_noise=0.1, overrides={"opt.integrator": integrator})
# some of the fields updated by step2
step2_field = [
@@ -445,7 +466,7 @@ class ForwardTest(parameterized.TestCase):
mjd.qfrc_applied = qfrc_applied
mjd.xfrc_applied = xfrc_applied
d = mjwarp.put_data(mjm, mjd)
d = mjw.put_data(mjm, mjd)
for arr in step2_field:
if arr in ["qpos", "qvel"]:
@@ -459,7 +480,7 @@ class ForwardTest(parameterized.TestCase):
attr.zero_()
mujoco.mj_step2(mjm, mjd)
mjwarp.step2(m, d)
mjw.step2(m, d)
for arr in step2_field:
d_arr, is_efc = _getattr(arr)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse_test.py
Vendored
+34 -30
View File
@@ -21,12 +21,12 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import DisableBit
from mujoco.mjx.third_party.mujoco_warp import IntegratorType
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp._src import inverse
from mujoco.mjx.third_party.mujoco_warp._src import support
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType
def _assert_eq(a, b, name):
@@ -60,20 +60,19 @@ _XML = """
class InverseTest(parameterized.TestCase):
@parameterized.product(
integrator=[IntegratorType.EULER, IntegratorType.IMPLICITFAST],
invdiscrete=[True, False],
sparse=[True, False],
integrator=(IntegratorType.EULER, IntegratorType.IMPLICITFAST),
jacobian=(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE),
invdiscrete=(True, False),
)
def test_inverse(self, integrator, invdiscrete, sparse):
def test_inverse(self, integrator, jacobian, invdiscrete):
"""Tests inverse dynamics."""
mjm, mjd, m, d = test_util.fixture(
mjm, mjd, m, d = test_data.fixture(
xml=_XML,
contact=False,
integrator=integrator,
kick=True,
applied=True,
nstep=10,
sparse=sparse,
qvel_noise=0.01,
ctrl_noise=0.1,
qfrc_noise=0.1,
xfrc_noise=0.1,
overrides={"opt.integrator": integrator, "opt.disableflags": DisableBit.CONTACT, "opt.jacobian": jacobian},
)
# discrete qacc
@@ -97,29 +96,34 @@ class InverseTest(parameterized.TestCase):
mujoco.mj_forward(mjm, mjd)
mjd.qacc = qacc_fd
m = mjwarp.put_model(mjm)
d = mjwarp.put_data(mjm, mjd)
m = mjw.put_model(mjm)
d = mjw.put_data(mjm, mjd)
qacc = d.qacc.numpy()[0].copy()
qfrc_constraint = d.qfrc_constraint.numpy()[0].copy()
# qfrc_inverse = qfrc_applied + J.T @ xfrc_applied + qfrc_actuator
qfrc_xfrc_applied = wp.zeros((d.nworld, m.nv), dtype=float)
support.xfrc_accumulate(m, d, qfrc_xfrc_applied)
mjw.xfrc_accumulate(m, d, qfrc_xfrc_applied)
qfrc_inverse = d.qfrc_applied.numpy()[0] + d.qfrc_actuator.numpy()[0] + qfrc_xfrc_applied.numpy()[0]
for arr in (d.qfrc_constraint, d.qfrc_inverse):
arr.zero_()
mjwarp.inverse(m, d)
mjw.inverse(m, d)
_assert_eq(d.qfrc_constraint.numpy()[0], qfrc_constraint, "qfrc_constraint")
_assert_eq(d.qfrc_inverse.numpy()[0], qfrc_inverse, "qfrc_inverse")
_assert_eq(d.qacc.numpy()[0], qacc, "qacc")
def test_discrete_acc_eulerdamp(self):
_, _, m, d = test_util.fixture(
xml=_XML, integrator=IntegratorType.EULER, eulerdamp=False, kick=True, applied=True, nstep=10
_, _, m, d = test_data.fixture(
xml=_XML,
qvel_noise=0.01,
ctrl_noise=0.1,
qfrc_noise=0.1,
xfrc_noise=0.1,
overrides={"opt.integrator": IntegratorType.EULER, "opt.disableflags": DisableBit.EULERDAMP},
)
qacc = wp.zeros((1, m.nv), dtype=float)
qfrc = wp.zeros((1, m.nv), dtype=float)
@@ -127,7 +131,7 @@ class InverseTest(parameterized.TestCase):
_assert_eq(qacc.numpy()[0], d.qacc.numpy()[0], "qacc")
def test_discrete_acc_rk4(self):
_, _, m, d = test_util.fixture(xml=_XML, integrator=IntegratorType.RK4)
_, _, m, d = test_data.fixture(xml=_XML, overrides={"opt.integrator": IntegratorType.RK4})
qacc = wp.zeros((1, m.nv), dtype=float)
qfrc = wp.zeros((1, m.nv), dtype=float)
@@ -136,14 +140,14 @@ class InverseTest(parameterized.TestCase):
def test_inverse_tendon_armature(self):
"""Tests inverse dynamics with tendon armature."""
_, _, m, d = test_util.fixture(
_, _, m, d = test_data.fixture(
"tendon/armature.xml",
constraint=False,
gravity=False,
kick=True,
applied=True,
nstep=10,
keyframe=0,
qvel_noise=0.01,
ctrl_noise=0.1,
qfrc_noise=0.1,
xfrc_noise=0.1,
overrides={"opt.disableflags": DisableBit.GRAVITY | DisableBit.CONSTRAINT},
)
qacc = d.qacc.numpy()[0].copy()
@@ -151,13 +155,13 @@ class InverseTest(parameterized.TestCase):
# qfrc_inverse = qfrc_applied + J.T @ xfrc_applied + qfrc_actuator
qfrc_xfrc_applied = wp.zeros((d.nworld, m.nv), dtype=float)
support.xfrc_accumulate(m, d, qfrc_xfrc_applied)
mjw.xfrc_accumulate(m, d, qfrc_xfrc_applied)
qfrc_inverse = d.qfrc_applied.numpy()[0] + d.qfrc_actuator.numpy()[0] + qfrc_xfrc_applied.numpy()[0]
for arr in (d.qfrc_constraint, d.qfrc_inverse):
arr.zero_()
mjwarp.inverse(m, d)
mjw.inverse(m, d)
_assert_eq(d.qfrc_constraint.numpy()[0], qfrc_constraint, "qfrc_constraint")
_assert_eq(d.qfrc_inverse.numpy()[0], qfrc_inverse, "qfrc_inverse")
mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
Vendored
+204 -45
View File
@@ -13,19 +13,15 @@
# limitations under the License.
# ==============================================================================
from typing import Optional, Tuple
from typing import Any, Optional, Sequence, Union
import mujoco
import numpy as np
import warp as wp
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import conditional_graph_supported
from mujoco.mjx.third_party.mujoco_warp._src import math
from mujoco.mjx.third_party.mujoco_warp._src import types
# number of max iterations to run GJK/EPA
MJ_CCD_ITERATIONS = 12
from mujoco.mjx.third_party.mujoco_warp._src import warp_util
# max number of worlds supported
MAX_WORLDS = 2**24
@@ -76,6 +72,12 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
geom_plugin_index = np.full_like(mjm.geom_type, -1)
if mjm.nplugin > 0:
if (mjm.body_plugin != -1).any():
raise NotImplementedError("Body plugins not supported.")
if (mjm.actuator_plugin != -1).any():
raise NotImplementedError("Actuator plugins not supported.")
if (mjm.sensor_plugin != -1).any():
raise NotImplementedError("Sensor plugins not supported.")
for i in range(len(mjm.geom_plugin)):
if mjm.geom_plugin[i] != -1:
p = mjm.geom_plugin[i]
@@ -122,6 +124,12 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
if mjm.opt.noslip_iterations > 0:
raise NotImplementedError(f"noslip solver not implemented.")
if (mjm.opt.viscosity > 0 or mjm.opt.density > 0) and mjm.opt.integrator in (
mujoco.mjtIntegrator.mjINT_IMPLICITFAST,
mujoco.mjtIntegrator.mjINT_IMPLICIT,
):
raise NotImplementedError(f"Implicit integrators and fluid model not implemented.")
# TODO(team): remove after _update_gradient for Newton uses tile operations for islands
nv_max = 60
if mjm.nv > nv_max and mjm.opt.jacobian == mujoco.mjtJacobian.mjJAC_DENSE:
@@ -308,7 +316,7 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
mocap_bodyid = mocap_bodyid[mjm.body_mocapid[mjm.body_mocapid >= 0].argsort()]
# precalculated geom pairs
filterparent = not (mjm.opt.disableflags & types.DisableBit.FILTERPARENT.value)
filterparent = not (mjm.opt.disableflags & types.DisableBit.FILTERPARENT)
geom1, geom2 = np.triu_indices(mjm.ngeom, k=1)
nxn_geom_pair = np.stack((geom1, geom2), axis=1)
@@ -362,7 +370,7 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
# Disable collisions if there are no potentially colliding pairs
if np.sum(geom_type_pair_count) == 0:
mjm.opt.disableflags |= types.DisableBit.CONTACT.value
mjm.opt.disableflags |= types.DisableBit.CONTACT
def create_nmodel_batched_array(mjm_array, dtype, expand_dim=True):
array = wp.array(mjm_array, dtype=dtype)
@@ -396,6 +404,58 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
condim = np.concatenate((mjm.geom_condim, mjm.pair_dim))
condim_max = np.max(condim) if len(condim) > 0 else 0
# collision sensors
is_collision_sensor = np.isin(
mjm.sensor_type, [mujoco.mjtSensor.mjSENS_GEOMDIST, mujoco.mjtSensor.mjSENS_GEOMNORMAL, mujoco.mjtSensor.mjSENS_GEOMFROMTO]
)
sensor_collision_adr = np.nonzero(is_collision_sensor)[0]
collision_sensor_adr = np.full(mjm.nsensor, -1)
collision_sensor_adr[sensor_collision_adr] = np.arange(len(sensor_collision_adr))
if is_collision_sensor.any():
def _collision_sensor_check(sensor_type, sensor_id, geom_type, err_msg):
for type_, id_ in zip(sensor_type, sensor_id):
if type_ == mujoco.mjtObj.mjOBJ_BODY:
geomnum = mjm.body_geomnum[id_]
geomadr = mjm.body_geomadr[id_]
for geomid in range(geomadr, geomadr + geomnum):
if mjm.geom_type[geomid] == geom_type:
raise NotImplementedError(err_msg)
elif type_ == mujoco.mjtObj.mjOBJ_GEOM:
if mjm.geom_type[id_] == geom_type:
raise NotImplementedError(err_msg)
sensor_collision_objtype = mjm.sensor_objtype[is_collision_sensor]
sensor_collision_objid = mjm.sensor_objid[is_collision_sensor]
sensor_collision_reftype = mjm.sensor_reftype[is_collision_sensor]
sensor_collision_refid = mjm.sensor_refid[is_collision_sensor]
_collision_sensor_check(
sensor_collision_objtype,
sensor_collision_objid,
mujoco.mjtGeom.mjGEOM_PLANE,
"Collision sensors with planes are not implemented.",
)
_collision_sensor_check(
sensor_collision_reftype,
sensor_collision_refid,
mujoco.mjtGeom.mjGEOM_PLANE,
"Collision sensors with planes are not implemented.",
)
_collision_sensor_check(
sensor_collision_objtype,
sensor_collision_objid,
mujoco.mjtGeom.mjGEOM_HFIELD,
"Collision sensors with height fields are not implemented.",
)
_collision_sensor_check(
sensor_collision_reftype,
sensor_collision_refid,
mujoco.mjtGeom.mjGEOM_HFIELD,
"Collision sensors with height fields are not implemented.",
)
m = types.Model(
nq=mjm.nq,
nv=mjm.nv,
@@ -456,13 +516,10 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
is_sparse=bool(is_sparse),
ls_parallel=False,
ls_parallel_min_step=1.0e-6, # TODO(team): determine good default setting
gjk_iterations=MJ_CCD_ITERATIONS,
epa_iterations=MJ_CCD_ITERATIONS,
ccd_iterations=mjm.opt.ccd_iterations,
broadphase=int(broadphase),
broadphase_filter=int(
types.BroadphaseFilter.PLANE.value | types.BroadphaseFilter.SPHERE.value | types.BroadphaseFilter.OBB.value
),
graph_conditional=True and conditional_graph_supported(),
broadphase_filter=int(types.BroadphaseFilter.PLANE | types.BroadphaseFilter.SPHERE | types.BroadphaseFilter.OBB),
graph_conditional=True and warp_util.conditional_graph_supported(),
sdf_initpoints=mjm.opt.sdf_initpoints,
sdf_iterations=mjm.opt.sdf_iterations,
run_collision_detection=True,
@@ -648,10 +705,10 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
eq_solimp=create_nmodel_batched_array(mjm.eq_solimp, dtype=types.vec5),
eq_data=create_nmodel_batched_array(mjm.eq_data, dtype=types.vec11),
# pre-compute indices of equality constraints
eq_connect_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.CONNECT.value)[0], dtype=int),
eq_wld_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.WELD.value)[0], dtype=int),
eq_jnt_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.JOINT.value)[0], dtype=int),
eq_ten_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.TENDON.value)[0], dtype=int),
eq_connect_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.CONNECT)[0], dtype=int),
eq_wld_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.WELD)[0], dtype=int),
eq_jnt_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.JOINT)[0], dtype=int),
eq_ten_adr=wp.array(np.nonzero(mjm.eq_type == types.EqType.TENDON)[0], dtype=int),
actuator_moment_tiles_nv=actuator_moment_tiles_nv,
actuator_moment_tiles_nu=actuator_moment_tiles_nu,
actuator_trntype=wp.array(mjm.actuator_trntype, dtype=int),
@@ -676,11 +733,6 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
actuator_acc0=wp.array(mjm.actuator_acc0, dtype=float),
actuator_lengthrange=wp.array(mjm.actuator_lengthrange, dtype=wp.vec2),
exclude_signature=wp.array(mjm.exclude_signature, dtype=int),
# short-circuiting here allows us to skip a lot of code in implicit integration
actuator_affine_bias_gain=bool(
np.any(mjm.actuator_biastype == types.BiasType.AFFINE.value)
or np.any(mjm.actuator_gaintype == types.GainType.AFFINE.value)
),
nxn_geom_pair=wp.array(nxn_geom_pair, dtype=wp.vec2i),
nxn_geom_pair_filtered=wp.array(nxn_geom_pair_filtered, dtype=wp.vec2i),
nxn_pairid=wp.array(nxn_pairid, dtype=int),
@@ -781,6 +833,7 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
),
sensor_rangefinder_adr=wp.array(sensor_rangefinder_adr, dtype=int),
rangefinder_sensor_adr=wp.array(rangefinder_sensor_adr, dtype=int),
collision_sensor_adr=wp.array(collision_sensor_adr, dtype=int),
sensor_touch_adr=wp.array(
np.nonzero(mjm.sensor_type == mujoco.mjtSensor.mjSENS_TOUCH)[0],
dtype=int,
@@ -1061,17 +1114,17 @@ def make_data(mjm: mujoco.MjModel, nworld: int = 1, nconmax: int = -1, njmax: in
collision_worldid=wp.zeros((nconmax,), dtype=int),
ncollision=wp.zeros((1,), dtype=int),
# narrowphase (EPA polytope)
epa_vert=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_vert1=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_vert2=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_vert_index1=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=int),
epa_vert_index2=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=int),
epa_face=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=wp.vec3i),
epa_pr=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_norm2=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=float),
epa_index=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
epa_map=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
epa_horizon=wp.zeros(shape=(nconmax, 6 * MJ_CCD_ITERATIONS), dtype=int),
epa_vert=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_vert1=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_vert2=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_vert_index1=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=int),
epa_vert_index2=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=int),
epa_face=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=wp.vec3i),
epa_pr=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_norm2=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=float),
epa_index=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=int),
epa_map=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=int),
epa_horizon=wp.zeros(shape=(nconmax, 2 * types.MJ_MAX_EPAHORIZON), dtype=int),
multiccd_polygon=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
multiccd_clipped=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
multiccd_pnormal=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
@@ -1435,17 +1488,17 @@ def put_data(
collision_worldid=wp.empty(nconmax, dtype=int),
ncollision=wp.zeros(1, dtype=int),
# narrowphase (EPA polytope)
epa_vert=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_vert1=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_vert2=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_vert_index1=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=int),
epa_vert_index2=wp.zeros(shape=(nconmax, 5 + MJ_CCD_ITERATIONS), dtype=int),
epa_face=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=wp.vec3i),
epa_pr=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=wp.vec3),
epa_norm2=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=float),
epa_index=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
epa_map=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
epa_horizon=wp.zeros(shape=(nconmax, 6 * MJ_CCD_ITERATIONS), dtype=int),
epa_vert=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_vert1=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_vert2=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_vert_index1=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=int),
epa_vert_index2=wp.zeros(shape=(nconmax, 5 + mjm.opt.ccd_iterations), dtype=int),
epa_face=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=wp.vec3i),
epa_pr=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=wp.vec3),
epa_norm2=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=float),
epa_index=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=int),
epa_map=wp.zeros(shape=(nconmax, 6 + types.MJ_MAX_EPAFACES * mjm.opt.ccd_iterations), dtype=int),
epa_horizon=wp.zeros(shape=(nconmax, 2 * types.MJ_MAX_EPAHORIZON), dtype=int),
multiccd_polygon=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
multiccd_clipped=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
multiccd_pnormal=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
@@ -1844,3 +1897,109 @@ def reset_data(m: types.Model, d: types.Data):
d.sensordata,
],
)
def override_model(model: Union[types.Model, mujoco.MjModel], overrides: Union[dict[str, Any], Sequence[str]]):
"""Overrides model parameters.
Overrides are of the format:
opt.iterations = 1
opt.ls_parallel = True
opt.cone = pyramidal
opt.disableflags = contact | spring
"""
enum_fields = {
"opt.broadphase": types.BroadphaseType,
"opt.broadphase_filter": types.BroadphaseFilter,
"opt.cone": types.ConeType,
"opt.disableflags": types.DisableBit,
"opt.enableflags": types.EnableBit,
"opt.integrator": types.IntegratorType,
"opt.solver": types.SolverType,
}
mjw_only_fields = {"opt.broadphase", "opt.broadphase_filter", "opt.ls_parallel", "opt.graph_conditional"}
mj_only_fields = {"opt.jacobian"}
if not isinstance(overrides, dict):
overrides_dict = {}
for override in overrides:
if "=" not in override:
raise ValueError(f"Invalid override format: {override}")
k, v = override.split("=", 1)
overrides_dict[k.strip()] = v.strip()
overrides = overrides_dict
for key, val in overrides.items():
# skip overrides on MjModel for properties that are only on mjw.Model
if key in mjw_only_fields and isinstance(model, mujoco.MjModel):
continue
if key in mj_only_fields and isinstance(model, types.Model):
continue
obj, attrs = model, key.split(".")
for i, attr in enumerate(attrs):
if not hasattr(obj, attr):
raise ValueError(f"Unrecognized model field: {key}")
if i < len(attrs) - 1:
obj = getattr(obj, attr)
continue
typ = type(getattr(obj, attr))
if key in enum_fields and isinstance(val, str):
# special case: enum value
enum_members = val.split("|")
val = 0
for enum_member in enum_members:
enum_member = enum_member.strip().upper()
if enum_member not in enum_fields[key].__members__:
raise ValueError(f"Unrecognized enum value for {enum_fields[key].__name__}: {enum_member}")
val |= int(enum_fields[key][enum_member])
elif typ is bool and isinstance(val, str):
# special case: "true", "TRUE", "false", "FALSE" etc.
if val.upper() not in ("TRUE", "FALSE"):
raise ValueError(f"Unrecognized value for field: {key}")
val = val.upper() == "TRUE"
else:
val = typ(val)
setattr(obj, attr, val)
def find_keys(model: mujoco.MjModel, keyname_prefix: str) -> list[int]:
"""Finds keyframes that start with keyname_prefix."""
keys = []
for keyid in range(model.nkey):
name = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_KEY, keyid)
if name.startswith(keyname_prefix):
keys.append(keyid)
return keys
def make_trajectory(model: mujoco.MjModel, keys: list[int]) -> np.ndarray:
"""Make a ctrl trajectory with linear interpolation."""
ctrls = []
prev_ctrl_key = np.zeros(model.nu, dtype=np.float64)
prev_time, time = 0.0, 0.0
for key in keys:
ctrl_key, ctrl_time = model.key_ctrl[key], model.key_time[key]
if not ctrls and ctrl_time != 0.0:
raise ValueError("first keyframe must have time 0.0")
elif ctrls and ctrl_time <= prev_time:
raise ValueError("keyframes must be in time order")
while time < ctrl_time:
frac = (time - prev_time) / (ctrl_time - prev_time)
ctrls.append(prev_ctrl_key * (1 - frac) + ctrl_key * frac)
time += model.opt.timestep
ctrls.append(ctrl_key)
time += model.opt.timestep
prev_ctrl_key = ctrl_key
prev_time = time
return np.array(ctrls)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_jax_test.py
Vendored
+16 -16
View File
@@ -27,9 +27,9 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.io import MAX_WORLDS
_IO_TEST_MODELS = (
@@ -189,8 +189,8 @@ def _leading_dims_scale_w_nworld(test_obj, d1: Any, d2: Any, nworld1: int, nworl
class IOTest(parameterized.TestCase):
def test_put_model_nworld_array(self):
"""Tests that put_model arrays with nworld leading dim have `_is_batched`."""
mjm, *_ = test_util.fixture("pendula.xml")
m1 = mjwarp.put_model(mjm)
mjm, *_ = test_data.fixture("pendula.xml")
m1 = mjw.put_model(mjm)
self.assertTrue(hasattr(m1.geom_pos, "_is_batched"))
self.assertEqual(m1.geom_pos.shape[0], MAX_WORLDS)
@@ -208,36 +208,36 @@ class IOTest(parameterized.TestCase):
@parameterized.parameters(*_IO_TEST_MODELS)
def test_put_data_nworld_array(self, xml):
"""Tests that put_data arrays that scale with nworld have leading dim nworld."""
mjm, mjd, _, _ = test_util.fixture(xml)
d1 = mjwarp.put_data(mjm, mjd, nworld=1, nconmax=3_000, njmax=3_000)
dn = mjwarp.put_data(mjm, mjd, nworld=133, nconmax=3_000, njmax=3_000)
mjm, mjd, _, _ = test_data.fixture(xml)
d1 = mjw.put_data(mjm, mjd, nworld=1, nconmax=3_000, njmax=3_000)
dn = mjw.put_data(mjm, mjd, nworld=133, nconmax=3_000, njmax=3_000)
_leading_dims_scale_w_nworld(self, d1, dn, 1, 133)
def test_public_api_jax_compat(self):
"""Tests that annotations meet a set of criteria for JAX compat."""
_check_annotation_compat(mjwarp.Model.__annotations__, "Model.")
_check_annotation_compat(mjwarp.Data.__annotations__, "Data.")
_check_annotation_compat(mjw.Model.__annotations__, "Model.")
_check_annotation_compat(mjw.Data.__annotations__, "Data.")
@parameterized.parameters(*_IO_TEST_MODELS)
def test_types_match_annotations(self, xml):
"""Tests that the types of dataclass fields match the annotations."""
mjm, _, m, d = test_util.fixture(xml)
mjm, _, m, d = test_data.fixture(xml)
_check_type_matches_annotation(self, m, "Model.")
_check_type_matches_annotation(self, d, "Data.")
d = mjwarp.make_data(mjm, nworld=2)
d = mjw.make_data(mjm, nworld=2)
_check_type_matches_annotation(self, d, "Data.")
@parameterized.parameters(*_IO_TEST_MODELS)
def test_make_put_data_dims_match(self, xml):
"""Tests that make_data and put_data have matching dimensions."""
mjm, mjd, _, _ = test_util.fixture(xml)
dm2 = mjwarp.make_data(mjm, nworld=2, nconmax=3_000, njmax=4_200)
dm3 = mjwarp.make_data(mjm, nworld=3, nconmax=3_000, njmax=4_200)
mjm, mjd, _, _ = test_data.fixture(xml)
dm2 = mjw.make_data(mjm, nworld=2, nconmax=3_000, njmax=4_200)
dm3 = mjw.make_data(mjm, nworld=3, nconmax=3_000, njmax=4_200)
dp2 = mjwarp.put_data(mjm, mjd, nworld=2, nconmax=3_000, njmax=4_200)
dp3 = mjwarp.put_data(mjm, mjd, nworld=3, nconmax=3_000, njmax=4_200)
dp2 = mjw.put_data(mjm, mjd, nworld=2, nconmax=3_000, njmax=4_200)
dp3 = mjw.put_data(mjm, mjd, nworld=3, nconmax=3_000, njmax=4_200)
_dims_match(self, dm2, dp2)
_dims_match(self, dm3, dp3)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_test.py
Vendored
+94 -7
View File
@@ -22,8 +22,7 @@ from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp import test_data
def _assert_eq(a, b, name):
@@ -45,7 +44,7 @@ _IO_TEST_MODELS = (
class IOTest(parameterized.TestCase):
def test_make_put_data(self):
"""Tests that make_data and put_data are producing the same shapes for all arrays."""
mjm, _, _, d = test_util.fixture("pendula.xml")
mjm, _, _, d = test_data.fixture("pendula.xml")
md = mjwarp.make_data(mjm, nconmax=512, njmax=512)
# same number of fields
@@ -148,7 +147,7 @@ class IOTest(parameterized.TestCase):
def test_noslip_solver(self):
with self.assertRaises(NotImplementedError):
test_util.fixture(
test_data.fixture(
xml="""
<mujoco>
<option noslip_iterations="1"/>
@@ -182,8 +181,7 @@ class IOTest(parameterized.TestCase):
"qM",
]
nworld = 1
mjm, mjd, m, d = test_util.fixture(xml, nworld=nworld)
mjm, mjd, m, d = test_data.fixture(xml)
nconmax = d.nconmax
# data fields
@@ -220,7 +218,7 @@ class IOTest(parameterized.TestCase):
def test_sdf(self):
"""Tests that an SDF can be loaded."""
mjm, mjd, m, d = test_util.fixture(fname="collision_sdf/cow.xml", qpos0=True)
mjm, mjd, m, d = test_data.fixture("collision_sdf/cow.xml")
self.assertIsInstance(m.oct_aabb, wp.array)
self.assertEqual(m.oct_aabb.dtype, wp.vec3)
@@ -228,6 +226,95 @@ class IOTest(parameterized.TestCase):
if m.oct_aabb.size > 0:
self.assertEqual(m.oct_aabb.shape[1], 2)
@parameterized.parameters(
('<distance geom1="plane" geom2="sphere"/>', NotImplementedError),
('<distance geom1="sphere" geom2="plane"/>', NotImplementedError),
('<distance geom1="hfield" geom2="sphere"/>', ValueError),
('<distance geom1="sphere" geom2="hfield"/>', ValueError),
)
def test_collision_sensors(self, sensor, err):
"""Tests for collision sensors that are not implemented."""
with self.assertRaises(err):
test_data.fixture(
xml=f"""
<mujoco>
<asset>
<hfield name="hfield" nrow="2" ncol="2" size="1 1 1 1"/>
</asset>
<worldbody>
<geom name="plane" type="plane" size="10 10 .01"/>
<geom name="hfield" type="hfield" hfield="hfield"/>
<body>
<geom name="sphere" type="sphere" size=".1"/>
<joint type="slide" axis="0 0 1"/>
</body>
</worldbody>
<sensor>
{sensor}
</sensor>
</mujoco>
"""
)
def test_implicit_integrator_fluid_model(self):
"""Tests for implicit integrator with fluid model."""
with self.assertRaises(NotImplementedError):
test_data.fixture(
xml="""
<mujoco>
<option viscosity="1" density="1" integrator="implicitfast"/>
<worldbody>
<body>
<geom type="sphere" size=".1"/>
<freejoint/>
</body>
</worldbody>
</mujoco>
"""
)
def test_plugin(self):
with self.assertRaises(NotImplementedError):
test_data.fixture(
xml="""
<mujoco>
<extension>
<plugin plugin="mujoco.pid"/>
<plugin plugin="mujoco.sensor.touch_grid"/>
<plugin plugin="mujoco.elasticity.cable"/>
</extension>
<worldbody>
<geom type="plane" size="10 10 .001"/>
<body>
<joint name="joint" type="slide"/>
<geom type="sphere" size=".1"/>
<site name="site"/>
</body>
<composite type="cable" curve="s" count="41 1 1" size="1" offset="-.3 0 .6" initial="none">
<plugin plugin="mujoco.elasticity.cable">
<config key="twist" value="1e7"/>
<config key="bend" value="4e6"/>
<config key="vmax" value="0.05"/>
</plugin>
<joint kind="main" damping=".015"/>
<geom type="capsule" size=".005" rgba=".8 .2 .1 .1" condim="1"/>
</composite>
</worldbody>
<actuator>
<plugin plugin="mujoco.pid" joint="joint"/>
</actuator>
<sensor>
<plugin plugin="mujoco.sensor.touch_grid" objtype="site" objname="site">
<config key="size" value="7 7"/>
<config key="fov" value="45 45"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="3"/>
</plugin>
</sensor>
</mujoco>
"""
)
if __name__ == "__main__":
wp.init()
mjx/mujoco/mjx/third_party/mujoco_warp/_src/jax_test.py
Vendored
+8 -11
View File
@@ -19,8 +19,8 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src.test_util import fixture
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import test_data
# TODO(team): JAX test is temporary, remove after we land MJX:Warp
@@ -47,16 +47,13 @@ class JAXTest(parameterized.TestCase):
NCONTACTS = 16
UNROLL_LENGTH = 1
mjm, _, m, d = fixture(
xml,
nworld=NWORLDS,
nconmax=NWORLDS * NCONTACTS,
njmax=NCONTACTS * 4,
iterations=1,
ls_iterations=4,
kick=True,
mjm, mjd, _, _ = test_data.fixture(
xml, qvel_noise=0.01, ctrl_noise=0.1, overrides={"opt.iterations": 1, "opt.ls_iterations": 4}
)
m = mjw.put_model(mjm)
m.opt.graph_conditional = graph_conditional
d = mjw.put_data(mjm, mjd, nworld=2, nconmax=NCONTACTS, njmax=4 * NCONTACTS)
def warp_step(
qpos_in: wp.array(dtype=wp.float32, ndim=2),
@@ -66,7 +63,7 @@ class JAXTest(parameterized.TestCase):
):
wp.copy(d.qpos, qpos_in)
wp.copy(d.qvel, qvel_in)
mjwarp.step(m, d)
mjw.step(m, d)
wp.copy(qpos_out, d.qpos)
wp.copy(qvel_out, d.qvel)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py
Vendored
+50 -31
View File
@@ -30,6 +30,7 @@ wp.set_module_options({"enable_backward": False})
@wp.kernel
def _spring_damper_dof_passive(
# Model:
opt_disableflags: int,
qpos_spring: wp.array2d(dtype=float),
jnt_type: wp.array(dtype=int),
jnt_qposadr: wp.array(dtype=int),
@@ -48,8 +49,8 @@ def _spring_damper_dof_passive(
stiffness = jnt_stiffness[worldid, jntid]
damping = dof_damping[worldid, dofid]
has_stiffness = stiffness != 0.0
has_damping = damping != 0.0
has_stiffness = stiffness != 0.0 and not opt_disableflags & DisableBit.SPRING
has_damping = damping != 0.0 and not opt_disableflags & DisableBit.DAMPER
if not has_stiffness:
qfrc_spring_out[worldid, dofid] = 0.0
@@ -63,7 +64,7 @@ def _spring_damper_dof_passive(
jnttype = jnt_type[jntid]
qposid = jnt_qposadr[jntid]
if jnttype == wp.static(JointType.FREE.value):
if jnttype == JointType.FREE:
# spring
if has_stiffness:
dif = wp.vec3(
@@ -100,7 +101,7 @@ def _spring_damper_dof_passive(
qfrc_damper_out[worldid, dofid + 3] = -damping * qvel_in[worldid, dofid + 3]
qfrc_damper_out[worldid, dofid + 4] = -damping * qvel_in[worldid, dofid + 4]
qfrc_damper_out[worldid, dofid + 5] = -damping * qvel_in[worldid, dofid + 5]
elif jnttype == wp.static(JointType.BALL.value):
elif jnttype == JointType.BALL:
# spring
if has_stiffness:
rot = wp.quat(
@@ -147,6 +148,9 @@ def _spring_damper_tendon_passive(
ten_velocity_in: wp.array2d(dtype=float),
ten_length_in: wp.array2d(dtype=float),
ten_J_in: wp.array3d(dtype=float),
# In:
dsbl_spring: bool,
dsbl_damper: bool,
# Data out:
qfrc_spring_out: wp.array2d(dtype=float),
qfrc_damper_out: wp.array2d(dtype=float),
@@ -156,12 +160,15 @@ def _spring_damper_tendon_passive(
stiffness = tendon_stiffness[worldid, tenid]
damping = tendon_damping[worldid, tenid]
if stiffness == 0.0 and damping == 0.0:
has_stiffness = stiffness != 0.0 and not dsbl_spring
has_damping = damping != 0.0 and not dsbl_damper
if not has_stiffness and not has_damping:
return
J = ten_J_in[worldid, tenid, dofid]
if stiffness:
if has_stiffness:
# compute spring force along tendon
length = ten_length_in[worldid, tenid]
lengthspring = tendon_lengthspring[worldid, tenid]
@@ -178,7 +185,7 @@ def _spring_damper_tendon_passive(
# transform to joint torque
wp.atomic_add(qfrc_spring_out[worldid], dofid, J * frc_spring)
if damping:
if has_damping:
# compute damper linear force along tendon
frc_damper = -damping * ten_velocity_in[worldid, tenid]
@@ -388,6 +395,8 @@ def _flex_elasticity(
flexvert_xpos_in: wp.array2d(dtype=wp.vec3),
flexedge_length_in: wp.array2d(dtype=float),
flexedge_velocity_in: wp.array2d(dtype=float),
# In:
dsbl_damper: bool,
# Data out:
qfrc_spring_out: wp.array2d(dtype=float),
):
@@ -403,7 +412,10 @@ def _flex_elasticity(
wp.mat(0, 1, 1, 2, 2, 0, 2, 3, 0, 3, 1, 3, shape=(6, 2), dtype=int),
wp.mat(1, 2, 2, 0, 0, 1, 0, 0, 0, 0, 0, 0, shape=(6, 2), dtype=int),
)
kD = flex_damping[f] / timestep
if timestep > 0.0 and not dsbl_damper:
kD = flex_damping[f] / timestep
else:
kD = 0.0
gradient = wp.mat(0.0, shape=(6, 6))
for e in range(nedge):
@@ -506,8 +518,10 @@ def _flex_bending(
@event_scope
def passive(m: Model, d: Data):
"""Adds all passive forces."""
dsbl_spring = m.opt.disableflags & DisableBit.SPRING
dsbl_damper = m.opt.disableflags & DisableBit.DAMPER
if m.opt.disableflags & (DisableBit.SPRING | DisableBit.DAMPER):
if dsbl_spring and dsbl_damper:
d.qfrc_spring.zero_()
d.qfrc_damper.zero_()
d.qfrc_gravcomp.zero_()
@@ -519,6 +533,7 @@ def passive(m: Model, d: Data):
_spring_damper_dof_passive,
dim=(d.nworld, m.njnt),
inputs=[
m.opt.disableflags,
m.qpos_spring,
m.jnt_type,
m.jnt_qposadr,
@@ -542,6 +557,8 @@ def passive(m: Model, d: Data):
d.ten_velocity,
d.ten_length,
d.ten_J,
dsbl_spring,
dsbl_damper,
],
outputs=[
d.qfrc_spring,
@@ -549,28 +566,30 @@ def passive(m: Model, d: Data):
],
)
wp.launch(
_flex_elasticity,
dim=(d.nworld, m.nflexelem),
inputs=[
m.opt.timestep,
m.body_dofadr,
m.flex_dim,
m.flex_vertadr,
m.flex_edgeadr,
m.flex_elemedgeadr,
m.flex_vertbodyid,
m.flex_elem,
m.flex_elemedge,
m.flexedge_length0,
m.flex_stiffness,
m.flex_damping,
d.flexvert_xpos,
d.flexedge_length,
d.flexedge_velocity,
],
outputs=[d.qfrc_spring],
)
if not dsbl_spring:
wp.launch(
_flex_elasticity,
dim=(d.nworld, m.nflexelem),
inputs=[
m.opt.timestep,
m.body_dofadr,
m.flex_dim,
m.flex_vertadr,
m.flex_edgeadr,
m.flex_elemedgeadr,
m.flex_vertbodyid,
m.flex_elem,
m.flex_elemedge,
m.flexedge_length0,
m.flex_stiffness,
m.flex_damping,
d.flexvert_xpos,
d.flexedge_length,
d.flexedge_velocity,
dsbl_damper,
],
outputs=[d.qfrc_spring],
)
wp.launch(
_flex_bending,
dim=(d.nworld, m.nflexedge),
mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive_test.py
Vendored
+25 -16
View File
@@ -15,14 +15,15 @@
"""Tests for passive force functions."""
import mujoco
import numpy as np
import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src import test_util
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import DisableBit
from mujoco.mjx.third_party.mujoco_warp import test_data
# tolerance for difference between MuJoCo and MJWarp passive force calculations - mostly
# due to float precision
@@ -36,15 +37,22 @@ def _assert_eq(a, b, name):
class PassiveTest(parameterized.TestCase):
@parameterized.product(passive=[True, False], gravity=[True, False])
def test_passive(self, passive, gravity):
@parameterized.product(spring=(0, DisableBit.SPRING), damper=(0, DisableBit.DAMPER), gravity=(0, DisableBit.GRAVITY))
def test_passive(self, spring, damper, gravity):
"""Tests passive."""
_, mjd, m, d = test_util.fixture("pendula.xml", spring=passive, damper=passive, gravity=gravity, kick=True, applied=True)
_, mjd, m, d = test_data.fixture(
"pendula.xml",
qvel_noise=0.01,
ctrl_noise=0.1,
qfrc_noise=0.1,
xfrc_noise=0.1,
overrides={"opt.disableflags": DisableBit.CONTACT | spring | damper | gravity},
)
for arr in (d.qfrc_spring, d.qfrc_damper, d.qfrc_gravcomp, d.qfrc_passive):
arr.zero_()
mjwarp.passive(m, d)
mjw.passive(m, d)
_assert_eq(d.qfrc_spring.numpy()[0], mjd.qfrc_spring, "qfrc_spring")
_assert_eq(d.qfrc_damper.numpy()[0], mjd.qfrc_damper, "qfrc_damper")
@@ -62,7 +70,7 @@ class PassiveTest(parameterized.TestCase):
def test_fluid(self, density, viscosity, wind0, wind1, wind2):
"""Tests fluid model."""
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml=f"""
<mujoco>
<option density="{density}" viscosity="{viscosity}" wind="{wind0} {wind1} {wind2}"/>
@@ -83,16 +91,18 @@ class PassiveTest(parameterized.TestCase):
for arr in (d.qfrc_passive, d.qfrc_fluid):
arr.zero_()
mjwarp.passive(m, d)
mjw.passive(m, d)
_assert_eq(d.qfrc_passive.numpy()[0], mjd.qfrc_passive, "qfrc_passive")
_assert_eq(d.qfrc_fluid.numpy()[0], mjd.qfrc_fluid, "qfrc_fluid")
@parameterized.parameters((True, True), (True, False), (False, True), (False, False))
def test_gravcomp(self, sparse, gravity):
@parameterized.product(
jacobian=(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE), gravity=(0, DisableBit.GRAVITY)
)
def test_gravcomp(self, jacobian, gravity):
"""Tests gravity compensation."""
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<option gravity="1 2 3">
@@ -124,15 +134,14 @@ class PassiveTest(parameterized.TestCase):
</actuator>
</mujoco>
""",
gravity=gravity,
sparse=sparse,
overrides={"opt.disableflags": DisableBit.CONTACT | gravity, "opt.jacobian": jacobian},
)
for arr in (d.qfrc_passive, d.qfrc_gravcomp, d.qfrc_actuator):
arr.zero_()
mjwarp.passive(m, d)
mjwarp.fwd_actuation(m, d)
mjw.passive(m, d)
mjw.fwd_actuation(m, d)
_assert_eq(d.qfrc_passive.numpy()[0], mjd.qfrc_passive, "qfrc_passive")
_assert_eq(d.qfrc_gravcomp.numpy()[0], mjd.qfrc_gravcomp, "qfrc_gravcomp")
mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py
Vendored
+9 -9
View File
@@ -408,7 +408,7 @@ def _ray_hfield(
id: int,
):
# check geom type
if geom_type[id] != int(GeomType.HFIELD.value):
if geom_type[id] != GeomType.HFIELD:
return wp.inf
# hfield id and dimensions
@@ -608,17 +608,17 @@ def ray_geom(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.v
"""Returns distance along ray to intersection with geom, or infinity if none."""
# TODO(team): static loop unrolling to remove unnecessary branching
if geomtype == int(GeomType.PLANE.value):
if geomtype == GeomType.PLANE:
return _ray_plane(pos, mat, size, pnt, vec)
elif geomtype == int(GeomType.SPHERE.value):
elif geomtype == GeomType.SPHERE:
return _ray_sphere(pos, size[0] * size[0], pnt, vec)
elif geomtype == int(GeomType.CAPSULE.value):
elif geomtype == GeomType.CAPSULE:
return _ray_capsule(pos, mat, size, pnt, vec)
elif geomtype == int(GeomType.ELLIPSOID.value):
elif geomtype == GeomType.ELLIPSOID:
return _ray_ellipsoid(pos, mat, size, pnt, vec)
elif geomtype == int(GeomType.CYLINDER.value):
elif geomtype == GeomType.CYLINDER:
return _ray_cylinder(pos, mat, size, pnt, vec)
elif geomtype == int(GeomType.BOX.value):
elif geomtype == GeomType.BOX:
dist, _ = _ray_box(pos, mat, size, pnt, vec)
return dist
else:
@@ -675,7 +675,7 @@ def _ray_geom_mesh(
mat = geom_xmat_in[worldid, geomid]
type = geom_type[geomid]
if type == int(GeomType.MESH.value):
if type == GeomType.MESH:
return ray_mesh(
nmeshface,
mesh_vertadr,
@@ -688,7 +688,7 @@ def _ray_geom_mesh(
pnt,
vec,
)
elif type == int(GeomType.HFIELD.value):
elif type == GeomType.HFIELD:
return _ray_hfield(
geom_type,
geom_dataid,
mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray_test.py
Vendored
+33 -33
View File
@@ -19,9 +19,9 @@ import numpy as np
import warp as wp
from absl.testing import absltest
import mujoco_warp as mjwarp
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.types import vec6
# tolerance for difference between MuJoCo and MJX ray calculations - mostly
@@ -38,11 +38,11 @@ def _assert_eq(a, b, name):
class RayTest(absltest.TestCase):
def test_ray_nothing(self):
"""Tests that ray returns -1 when nothing is hit."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
pnt = wp.array([wp.vec3(12.146, 1.865, 3.895)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.vec3(0.0, 0.0, -1.0)], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0] # Extract from [[-1]]
dist_np = dist.numpy()[0, 0] # Extract from [[-1.]]
@@ -51,12 +51,12 @@ class RayTest(absltest.TestCase):
def test_ray_plane(self):
"""Tests ray<>plane matches MuJoCo."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# looking down at a slight angle
pnt = wp.array([wp.vec3(2.0, 1.0, 3.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.1, 0.2, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -68,7 +68,7 @@ class RayTest(absltest.TestCase):
# looking on wrong side of plane
pnt = wp.array([wp.vec3(0.0, 0.0, -0.5)], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -77,12 +77,12 @@ class RayTest(absltest.TestCase):
def test_ray_sphere(self):
"""Tests ray<>sphere matches MuJoCo."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# looking down at sphere at a slight angle
pnt = wp.array([wp.vec3(0.0, 0.0, 1.6)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.1, 0.2, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -94,12 +94,12 @@ class RayTest(absltest.TestCase):
def test_ray_capsule(self):
"""Tests ray<>capsule matches MuJoCo."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# looking down at capsule at a slight angle
pnt = wp.array([wp.vec3(0.5, 1.0, 1.6)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.0, 0.05, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -112,7 +112,7 @@ class RayTest(absltest.TestCase):
# looking up at capsule from below
pnt = wp.array([wp.vec3(-0.5, 1.0, 0.05)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.0, 0.05, 1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -125,7 +125,7 @@ class RayTest(absltest.TestCase):
# looking at cylinder of capsule from the side
pnt = wp.array([wp.vec3(0.0, 1.0, 0.75)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(1.0, 0.0, 0.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -137,26 +137,26 @@ class RayTest(absltest.TestCase):
def test_ray_cylinder(self):
"""Tests ray<>cylinder matches MuJoCo."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
pnt = wp.array([wp.vec3(2.0, 0.0, 0.05)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.0, 0.05, 1.0))], dtype=wp.vec3).reshape((1, 1))
mj_geomid = np.zeros(1, dtype=np.int32)
mj_dist = mujoco.mj_ray(mjm, mjd, pnt.numpy()[0, 0], vec.numpy()[0, 0], None, 1, -1, mj_geomid)
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
_assert_eq(geomid.numpy()[0, 0], mj_geomid[0], "geomid")
_assert_eq(dist.numpy()[0, 0], mj_dist, "dist")
def test_ray_box(self):
"""Tests ray<>box matches MuJoCo."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# looking down at box at a slight angle
pnt = wp.array([wp.vec3(1.0, 0.0, 1.6)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.0, 0.05, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -169,7 +169,7 @@ class RayTest(absltest.TestCase):
# looking up at box from below
pnt = wp.array([wp.vec3(1.0, 0.0, 0.05)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.0, 0.05, 1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -181,12 +181,12 @@ class RayTest(absltest.TestCase):
def test_ray_mesh(self):
"""Tests ray<>mesh matches MuJoCo."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# look at the tetrahedron
pnt = wp.array([wp.vec3(2.0, 2.0, 2.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(-1.0, -1.0, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -200,7 +200,7 @@ class RayTest(absltest.TestCase):
# look away from the dodecahedron
pnt = wp.array([wp.vec3(4.0, 2.0, 2.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(2.0, 1.0, 1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
_assert_eq(geomid_np, -1, "geom_id")
@@ -208,7 +208,7 @@ class RayTest(absltest.TestCase):
# look at the dodecahedron
pnt = wp.array([wp.vec3(4.0, 2.0, 2.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(-2.0, -1.0, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -220,11 +220,11 @@ class RayTest(absltest.TestCase):
_assert_eq(dist_np, mj_dist, "dist-dodecahedron")
def test_ray_hfield(self):
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
pnt = wp.array([wp.vec3(0.0, 2.0, 2.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.vec3(0.0, 0.0, -1.0)], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
mj_geomid = np.zeros(1, dtype=np.int32)
mj_dist = mujoco.mj_ray(mjm, mjd, pnt.numpy()[0, 0], vec.numpy()[0, 0], None, 1, -1, mj_geomid)
@@ -234,13 +234,13 @@ class RayTest(absltest.TestCase):
def test_ray_geomgroup(self):
"""Tests ray geomgroup filter."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# hits plane with geom_group[0] = 1
pnt = wp.array([wp.vec3(2.0, 1.0, 3.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.1, 0.2, -1.0))], dtype=wp.vec3).reshape((1, 1))
geomgroup = vec6(1, 0, 0, 0, 0, 0)
dist, geomid = mjwarp.ray(m, d, pnt, vec, geomgroup=geomgroup)
dist, geomid = mjw.ray(m, d, pnt, vec, geomgroup=geomgroup)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -255,7 +255,7 @@ class RayTest(absltest.TestCase):
pnt = wp.array([wp.vec3(2.0, 1.0, 3.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.1, 0.2, -1.0))], dtype=wp.vec3).reshape((1, 1))
geomgroup = vec6(0, 0, 0, 0, 0, 0)
dist, geomid = mjwarp.ray(m, d, pnt, vec, geomgroup=geomgroup)
dist, geomid = mjw.ray(m, d, pnt, vec, geomgroup=geomgroup)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -264,12 +264,12 @@ class RayTest(absltest.TestCase):
def test_ray_flg_static(self):
"""Tests ray flg_static filter."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# nothing hit with flg_static = False
pnt = wp.array([wp.vec3(2.0, 1.0, 3.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.1, 0.2, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec, flg_static=False)
dist, geomid = mjw.ray(m, d, pnt, vec, flg_static=False)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -278,12 +278,12 @@ class RayTest(absltest.TestCase):
def test_ray_bodyexclude(self):
"""Tests ray bodyexclude filter."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# nothing hit with bodyexclude = 0 (world body)
pnt = wp.array([wp.vec3(2.0, 1.0, 3.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.1, 0.2, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec, bodyexclude=0)
dist, geomid = mjw.ray(m, d, pnt, vec, bodyexclude=0)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
@@ -292,7 +292,7 @@ class RayTest(absltest.TestCase):
def test_ray_invisible(self):
"""Tests ray doesn't hit transparent geoms."""
mjm, mjd, m, d = test_util.fixture("ray.xml")
mjm, mjd, m, d = test_data.fixture("ray.xml")
# nothing hit with transparent geoms
m.geom_rgba = wp.array2d([[wp.vec4(0.0, 0.0, 0.0, 0.0)] * 8], dtype=wp.vec4)
@@ -300,7 +300,7 @@ class RayTest(absltest.TestCase):
pnt = wp.array([wp.vec3(2.0, 1.0, 3.0)], dtype=wp.vec3).reshape((1, 1))
vec = wp.array([wp.normalize(wp.vec3(0.1, 0.2, -1.0))], dtype=wp.vec3).reshape((1, 1))
dist, geomid = mjwarp.ray(m, d, pnt, vec)
dist, geomid = mjw.ray(m, d, pnt, vec)
wp.synchronize()
geomid_np = geomid.numpy()[0, 0]
dist_np = dist.numpy()[0, 0]
mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py
Vendored
+432 -163
View File
File diff suppressed because it is too large Load Diff
mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor_test.py
Vendored
+130 -41
View File
@@ -15,17 +15,15 @@
"""Tests for sensor functions."""
import itertools
import mujoco
import numpy as np
import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src import test_util
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import DisableBit
from mujoco.mjx.third_party.mujoco_warp import test_data
# tolerance for difference between MuJoCo and MJWarp calculations - mostly
# due to float precision
@@ -41,7 +39,7 @@ def _assert_eq(a, b, name):
class SensorTest(parameterized.TestCase):
def test_sensor(self):
"""Test sensors."""
mjm, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<option gravity="-1 -1 -1"/>
@@ -288,21 +286,22 @@ class SensorTest(parameterized.TestCase):
</mujoco>
""",
keyframe=0,
kick=True,
qvel_noise=0.01,
ctrl_noise=0.1,
)
d.sensordata.zero_()
mjwarp.sensor_pos(m, d)
mjwarp.sensor_vel(m, d)
mjwarp.sensor_acc(m, d)
mjw.sensor_pos(m, d)
mjw.sensor_vel(m, d)
mjw.sensor_acc(m, d)
_assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
def test_rangefinder(self):
"""Test rangefinder."""
for keyframe in range(2):
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<compiler angle="degree"/>
@@ -333,14 +332,14 @@ class SensorTest(parameterized.TestCase):
d.sensordata.zero_()
mjwarp.sensor_pos(m, d)
mjw.sensor_pos(m, d)
_assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
def test_touch_sensor(self):
"""Test touch sensor."""
for keyframe in range(2):
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -377,35 +376,35 @@ class SensorTest(parameterized.TestCase):
d.sensordata.zero_()
mjwarp.sensor_acc(m, d)
mjw.sensor_acc(m, d)
_assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
def test_tendon_sensor(self):
"""Test tendon sensors."""
_, mjd, m, d = test_util.fixture("tendon/fixed.xml", keyframe=0, sparse=False)
_, mjd, m, d = test_data.fixture("tendon/fixed.xml", keyframe=0)
d.sensordata.zero_()
mjwarp.sensor_pos(m, d)
mjwarp.sensor_vel(m, d)
mjw.sensor_pos(m, d)
mjw.sensor_vel(m, d)
_assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
@parameterized.parameters("humanoid/humanoid.xml", "constraints.xml")
def test_energy(self, xml):
mjm, mjd, m, d = test_util.fixture(xml, constraint=False, kick=True)
mjm, mjd, m, d = test_data.fixture(
xml, qvel_noise=0.01, ctrl_noise=0.1, overrides={"opt.disableflags": DisableBit.CONSTRAINT}
)
d.energy.zero_()
mujoco.mj_energyPos(mjm, mjd)
mjwarp.energy_pos(m, d)
mjw.energy_pos(m, d)
_assert_eq(d.energy.numpy()[0][0], mjd.energy[0], "potential energy")
mujoco.mj_energyVel(mjm, mjd)
mjwarp.energy_vel(m, d)
mjw.energy_vel(m, d)
_assert_eq(d.energy.numpy()[0][1], mjd.energy[1], "kinetic energy")
@parameterized.parameters(
@@ -418,18 +417,18 @@ class SensorTest(parameterized.TestCase):
contact_sensor = ""
# data combinations
datas = ["found", "force dist normal", "torque pos tangent", "found force torque dist pos normal tangent"]
datas = ("found", "force dist normal", "torque pos tangent", "found force torque dist pos normal tangent")
for geoms in [
for geoms in (
'geom2="plane"',
'geom1="plane" geom2="geom"',
'geom1="geom" geom2="plane"',
'body1="plane"',
'body1="plane" body2="geom"',
'body1="geom" body2="plane"',
]:
for num in [1, 5]:
for reduce in [None, "mindist", "maxforce"]:
):
for num in (1, 5):
for reduce in (None, "mindist", "maxforce"):
for data in datas:
contact_sensor += f'<contact {geoms} num="{num}"'
if reduce is not None:
@@ -462,12 +461,10 @@ class SensorTest(parameterized.TestCase):
</mujoco>
"""
_, mjd, m, d = test_util.fixture(xml=_MJCF, keyframe=0)
_, mjd, m, d = test_data.fixture(xml=_MJCF, keyframe=0)
d.sensordata.zero_()
mjwarp.forward(m, d)
print(f"ncon: {d.ncon.numpy()}")
mjw.forward(m, d)
sensordata = d.sensordata.numpy()[0]
_assert_eq(sensordata, mjd.sensordata, "sensordata")
@@ -475,7 +472,7 @@ class SensorTest(parameterized.TestCase):
def test_contact_sensor_subtree(self):
"""Test contact sensor with subtree matching semantics."""
_MJCF = f"""
_MJCF = """
<mujoco>
<worldbody>
<geom type="plane" size="2 2 .01"/>
@@ -506,16 +503,16 @@ class SensorTest(parameterized.TestCase):
</keyframe>
</mujoco>
"""
_, _, m, d = test_util.fixture(xml=_MJCF, nconmax=12, njmax=48, keyframe=0)
_, _, m, d = test_data.fixture(xml=_MJCF, keyframe=0)
d.sensordata.zero_()
mjwarp.forward(m, d)
mjw.forward(m, d)
_assert_eq(d.sensordata.numpy()[0], np.array([4, 4, 4, 2, 1, 0, 1]), "found")
def test_contact_sensor_subtree_found_zero(self):
"""Test contact sensor with subtree matching semantics generates found=0."""
_MJCF = f"""
_MJCF = """
<mujoco>
<worldbody>
<geom type="plane" size="2 2 .01"/>
@@ -541,17 +538,17 @@ class SensorTest(parameterized.TestCase):
</keyframe>
</mujoco>
"""
_, _, m, d = test_util.fixture(xml=_MJCF, nconmax=2, njmax=8, keyframe=0)
_, _, m, d = test_data.fixture(xml=_MJCF, keyframe=0)
d.sensordata.fill_(wp.inf)
mjwarp.forward(m, d)
mjw.forward(m, d)
_assert_eq(d.ncon.numpy()[0], 2, "ncon")
_assert_eq(d.sensordata.numpy()[0], 0, "found")
@parameterized.product(site_geom=["sphere", "capsule", "ellipsoid", "cylinder", "box"], key_pos=["0 0 10", "0 0 .09"])
def test_contact_sensor_site(self, site_geom, key_pos):
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml=f"""
<mujoco>
<worldbody>
@@ -574,13 +571,13 @@ class SensorTest(parameterized.TestCase):
)
d.sensordata.zero_()
mjwarp.forward(m, d)
mjw.forward(m, d)
_assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
def test_contact_sensor_netforce(self):
"""Test contact sensor with netforce reduction."""
_, mjd, m, d = test_util.fixture(
_, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -603,11 +600,103 @@ class SensorTest(parameterized.TestCase):
)
d.sensordata.zero_()
mjwarp.forward(m, d)
mjw.forward(m, d)
sensordata = d.sensordata.numpy()[0]
_assert_eq(sensordata, mjd.sensordata, "sensordata")
self.assertTrue(sensordata.any()) # check that sensordata is not empty
@parameterized.parameters(
("sphere", "sphere"),
("box", "box"),
("capsule", "box"),
)
def test_sensor_collision(self, geom1, geom2):
"""Tests collision sensors: distance, normal, fromto."""
# TODO(team): test plane
_, mjd, m, d = test_data.fixture(
xml=f"""
<mujoco>
<worldbody>
<body name="geom0">
<geom name="geom0" type="{geom1}" size=".1 .1 .1"/>
</body>
<body name="geom1">
<geom name="geom1" type="{geom2}" size=".1 .1 .1"/>
<joint type="slide" axis="0 0 1"/>
</body>
<body name="geomgeom" pos="1 0 0">
<geom type="box" size=".075 .075 .075" pos=".2 0 0"/>
<joint type="slide" axis="0 0 1"/>
</body>
</worldbody>
<keyframe>
<key qpos="1 2"/>
</keyframe>
<sensor>
<distance geom1="geom0" geom2="geom1" cutoff=".001"/>
<distance geom1="geom0" geom2="geom1" cutoff=".9"/>
<distance geom1="geom0" geom2="geom1" cutoff=".91"/>
<distance geom1="geom0" geom2="geom1" cutoff="1"/>
<normal geom1="geom0" geom2="geom1" cutoff=".001"/>
<normal geom1="geom0" geom2="geom1" cutoff="1"/>
<normal geom1="geom1" geom2="geom0" cutoff="1"/>
<fromto geom1="geom0" geom2="geom1" cutoff=".001"/>
<fromto geom1="geom0" geom2="geom1" cutoff="1"/>
<fromto geom1="geom1" geom2="geom0" cutoff="1"/>
<distance body1="geom0" body2="geomgeom" cutoff="5"/>
<distance body1="geomgeom" body2="geom0" cutoff="5"/>
<normal body1="geom0" body2="geomgeom" cutoff="5"/>
<normal body1="geomgeom" body2="geom0" cutoff="5"/>
<fromto body1="geom0" body2="geomgeom" cutoff="5"/>
<fromto body1="geomgeom" body2="geom0" cutoff="5"/>
</sensor>
</mujoco>
""",
keyframe=0,
)
d.sensordata.fill_(wp.inf)
mjw.forward(m, d)
_assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
@parameterized.parameters(0, 1)
def test_insidesite(self, keyframe):
_, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
<site name="refsite" type="sphere" size=".1"/>
<body name="body">
<geom name="geom" type="sphere" size=".1"/>
<site name="site"/>
<camera name="camera"/>
<joint type="slide" axis="1 0 0"/>
</body>
</worldbody>
<sensor>
<insidesite site="refsite" objtype="xbody" objname="body"/>
<insidesite site="refsite" objtype="body" objname="body"/>
<insidesite site="refsite" objtype="geom" objname="geom"/>
<insidesite site="refsite" objtype="site" objname="site"/>
<insidesite site="refsite" objtype="camera" objname="camera"/>
</sensor>
<keyframe>
<key qpos="0"/>
<key qpos="1"/>
</keyframe>
</mujoco>
""",
keyframe=keyframe,
)
d.sensordata.fill_(wp.inf)
mjw.forward(m, d)
_assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
if __name__ == "__main__":
wp.init()
mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py
Vendored
+51 -52
View File
@@ -98,7 +98,7 @@ def _kinematics_level(
pid = body_parentid[bodyid]
xpos = (xmat_in[worldid, pid] * body_pos[worldid, bodyid]) + xpos_in[worldid, pid]
xquat = math.mul_quat(xquat_in[worldid, pid], body_quat[worldid, bodyid])
elif jntnum == 1 and jnt_type[jntadr] == wp.static(JointType.FREE.value):
elif jntnum == 1 and jnt_type[jntadr] == JointType.FREE:
# free joint
qadr = jnt_qposadr[jntadr]
xpos = wp.vec3(qpos[qadr], qpos[qadr + 1], qpos[qadr + 2])
@@ -120,7 +120,7 @@ def _kinematics_level(
xanchor = math.rot_vec_quat(jnt_pos[worldid, jntadr], xquat) + xpos
xaxis = math.rot_vec_quat(jnt_axis_, xquat)
if jnt_type_ == wp.static(JointType.BALL.value):
if jnt_type_ == JointType.BALL:
qloc = wp.quat(
qpos[qadr + 0],
qpos[qadr + 1],
@@ -131,9 +131,9 @@ def _kinematics_level(
xquat = math.mul_quat(xquat, qloc)
# correct for off-center rotation
xpos = xanchor - math.rot_vec_quat(jnt_pos[worldid, jntadr], xquat)
elif jnt_type_ == wp.static(JointType.SLIDE.value):
elif jnt_type_ == JointType.SLIDE:
xpos += xaxis * (qpos[qadr] - qpos0[worldid, qadr])
elif jnt_type_ == wp.static(JointType.HINGE.value):
elif jnt_type_ == JointType.HINGE:
qpos0_ = qpos0[worldid, qadr]
qloc_ = math.axis_angle_to_quat(jnt_axis_, qpos[qadr] - qpos0_)
xquat = math.mul_quat(xquat, qloc_)
@@ -458,7 +458,7 @@ def _cdof(
offset = subtree_com_in[worldid, body_rootid[bodyid]] - xanchor_in[worldid, jntid]
res = cdof_out[worldid]
if jnt_type_ == wp.static(JointType.FREE.value):
if jnt_type_ == JointType.FREE:
res[dofid + 0] = wp.spatial_vector(0.0, 0.0, 0.0, 1.0, 0.0, 0.0)
res[dofid + 1] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
res[dofid + 2] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 1.0)
@@ -466,14 +466,14 @@ def _cdof(
res[dofid + 3] = wp.spatial_vector(xmat[0], wp.cross(xmat[0], offset))
res[dofid + 4] = wp.spatial_vector(xmat[1], wp.cross(xmat[1], offset))
res[dofid + 5] = wp.spatial_vector(xmat[2], wp.cross(xmat[2], offset))
elif jnt_type_ == wp.static(JointType.BALL.value): # ball
elif jnt_type_ == JointType.BALL: # ball
# I_3 rotation in child frame (assume no subsequent rotations)
res[dofid + 0] = wp.spatial_vector(xmat[0], wp.cross(xmat[0], offset))
res[dofid + 1] = wp.spatial_vector(xmat[1], wp.cross(xmat[1], offset))
res[dofid + 2] = wp.spatial_vector(xmat[2], wp.cross(xmat[2], offset))
elif jnt_type_ == wp.static(JointType.SLIDE.value):
elif jnt_type_ == JointType.SLIDE:
res[dofid] = wp.spatial_vector(wp.vec3(0.0), xaxis)
elif jnt_type_ == wp.static(JointType.HINGE.value): # hinge
elif jnt_type_ == JointType.HINGE: # hinge
res[dofid] = wp.spatial_vector(xaxis, wp.cross(xaxis, offset))
@@ -532,9 +532,7 @@ def _cam_local_to_global(
cam_xmat_out: wp.array2d(dtype=wp.mat33),
):
worldid, camid = wp.tid()
is_target_cam = (cam_mode[camid] == wp.static(CamLightType.TARGETBODY.value)) or (
cam_mode[camid] == wp.static(CamLightType.TARGETBODYCOM.value)
)
is_target_cam = (cam_mode[camid] == CamLightType.TARGETBODY) or (cam_mode[camid] == CamLightType.TARGETBODYCOM)
invalid_target = is_target_cam and (cam_targetbodyid[camid] < 0)
if invalid_target:
bodyid = cam_bodyid[camid]
@@ -542,22 +540,20 @@ def _cam_local_to_global(
xquat = xquat_in[worldid, bodyid]
cam_xpos_out[worldid, camid] = xpos + math.rot_vec_quat(cam_pos[worldid, camid], xquat)
cam_xmat_out[worldid, camid] = math.quat_to_mat(math.mul_quat(xquat, cam_quat[worldid, camid]))
elif cam_mode[camid] == wp.static(CamLightType.TRACK.value):
elif cam_mode[camid] == CamLightType.TRACK:
cam_xmat_out[worldid, camid] = cam_mat0[worldid, camid]
body_xpos = xpos_in[worldid, cam_bodyid[camid]]
cam_xpos_out[worldid, camid] = body_xpos + cam_pos0[worldid, camid]
elif cam_mode[camid] == wp.static(CamLightType.TRACKCOM.value):
elif cam_mode[camid] == CamLightType.TRACKCOM:
cam_xmat_out[worldid, camid] = cam_mat0[worldid, camid]
cam_xpos_out[worldid, camid] = subtree_com_in[worldid, cam_bodyid[camid]] + cam_poscom0[worldid, camid]
elif cam_mode[camid] == wp.static(CamLightType.TARGETBODY.value) or cam_mode[camid] == wp.static(
CamLightType.TARGETBODYCOM.value
):
elif cam_mode[camid] == CamLightType.TARGETBODY or cam_mode[camid] == CamLightType.TARGETBODYCOM:
bodyid = cam_bodyid[camid]
xpos = xpos_in[worldid, bodyid]
xquat = xquat_in[worldid, bodyid]
cam_xpos_out[worldid, camid] = xpos + math.rot_vec_quat(cam_pos[worldid, camid], xquat)
pos = xpos_in[worldid, cam_targetbodyid[camid]]
if cam_mode[camid] == wp.static(CamLightType.TARGETBODYCOM.value):
if cam_mode[camid] == CamLightType.TARGETBODYCOM:
pos = subtree_com_in[worldid, cam_targetbodyid[camid]]
# zaxis = -desired camera direction, in global frame
mat_3 = wp.normalize(cam_xpos_out[worldid, camid] - pos)
@@ -599,9 +595,7 @@ def _light_local_to_global(
light_xdir_out: wp.array2d(dtype=wp.vec3),
):
worldid, lightid = wp.tid()
is_target_light = (light_mode[lightid] == wp.static(CamLightType.TARGETBODY.value)) or (
light_mode[lightid] == wp.static(CamLightType.TARGETBODYCOM.value)
)
is_target_light = (light_mode[lightid] == CamLightType.TARGETBODY) or (light_mode[lightid] == CamLightType.TARGETBODYCOM)
invalid_target = is_target_light and (light_targetbodyid[lightid] < 0)
if invalid_target:
bodyid = light_bodyid[lightid]
@@ -610,22 +604,20 @@ def _light_local_to_global(
light_xpos_out[worldid, lightid] = xpos + math.rot_vec_quat(light_pos[worldid, lightid], xquat)
light_xdir_out[worldid, lightid] = math.rot_vec_quat(light_dir[worldid, lightid], xquat)
return
elif light_mode[lightid] == wp.static(CamLightType.TRACK.value):
elif light_mode[lightid] == CamLightType.TRACK:
light_xdir_out[worldid, lightid] = light_dir0[worldid, lightid]
body_xpos = xpos_in[worldid, light_bodyid[lightid]]
light_xpos_out[worldid, lightid] = body_xpos + light_pos0[worldid, lightid]
elif light_mode[lightid] == wp.static(CamLightType.TRACKCOM.value):
elif light_mode[lightid] == CamLightType.TRACKCOM:
light_xdir_out[worldid, lightid] = light_dir0[worldid, lightid]
light_xpos_out[worldid, lightid] = subtree_com_in[worldid, light_bodyid[lightid]] + light_poscom0[worldid, lightid]
elif light_mode[lightid] == wp.static(CamLightType.TARGETBODY.value) or light_mode[lightid] == wp.static(
CamLightType.TARGETBODYCOM.value
):
elif light_mode[lightid] == CamLightType.TARGETBODY or light_mode[lightid] == CamLightType.TARGETBODYCOM:
bodyid = light_bodyid[lightid]
xpos = xpos_in[worldid, bodyid]
xquat = xquat_in[worldid, bodyid]
light_xpos_out[worldid, lightid] = xpos + math.rot_vec_quat(light_pos[worldid, lightid], xquat)
pos = xpos_in[worldid, light_targetbodyid[lightid]]
if light_mode[lightid] == wp.static(CamLightType.TARGETBODYCOM.value):
if light_mode[lightid] == CamLightType.TARGETBODYCOM:
pos = subtree_com_in[worldid, light_targetbodyid[lightid]]
light_xdir_out[worldid, lightid] = pos - light_xpos_out[worldid, lightid]
else:
@@ -1180,7 +1172,7 @@ def _cfrc_ext_equality(
id = efc_id_in[worldid, efcid]
eq_data_ = eq_data[worldid, id]
body_semantic = eq_objtype[id] == wp.static(ObjType.BODY.value)
body_semantic = eq_objtype[id] == ObjType.BODY
obj1 = eq_obj1id[id]
obj2 = eq_obj2id[id]
@@ -1411,7 +1403,7 @@ def _tendon_dot(
# fixed tendon has zero Jdot
adr = tendon_adr[tenid]
if wrap_type[adr] == int(WrapType.JOINT.value):
if wrap_type[adr] == WrapType.JOINT:
return
# process spatial tendon
@@ -1426,7 +1418,7 @@ def _tendon_dot(
id1 = wrap_objid[adr + j + 1]
# pulley
pulley = int(WrapType.PULLEY.value)
pulley = WrapType.PULLEY
if (type0 == pulley) or (type1 == pulley):
# get divisor
if type0 == pulley:
@@ -1447,7 +1439,7 @@ def _tendon_dot(
wbody0 = site_bodyid[id0]
# second object is geom: process site-geom-site
if (type1 == int(WrapType.SPHERE.value)) or (type1 == int(WrapType.CYLINDER.value)):
if (type1 == WrapType.SPHERE) or (type1 == WrapType.CYLINDER):
# TODO(team): derivatives of util_misc.wrap
return
@@ -1699,7 +1691,7 @@ def _comvel_level(
for j in range(jntid, jntid + jntnum):
jnttype = jnt_type[j]
if jnttype == wp.static(JointType.FREE.value):
if jnttype == JointType.FREE:
cvel += cdof[dofid + 0] * qvel[dofid + 0]
cvel += cdof[dofid + 1] * qvel[dofid + 1]
cvel += cdof[dofid + 2] * qvel[dofid + 2]
@@ -1713,7 +1705,7 @@ def _comvel_level(
cvel += cdof[dofid + 5] * qvel[dofid + 5]
dofid += 6
elif jnttype == wp.static(JointType.BALL.value):
elif jnttype == JointType.BALL:
cdof_dot_out[worldid, dofid + 0] = math.motion_cross(cvel, cdof[dofid + 0])
cdof_dot_out[worldid, dofid + 1] = math.motion_cross(cvel, cdof[dofid + 1])
cdof_dot_out[worldid, dofid + 2] = math.motion_cross(cvel, cdof[dofid + 2])
@@ -1791,15 +1783,15 @@ def _transmission(
worldid, actid = wp.tid()
trntype = actuator_trntype[actid]
gear = actuator_gear[worldid, actid]
if trntype == wp.static(TrnType.JOINT.value) or trntype == wp.static(TrnType.JOINTINPARENT.value):
if trntype == TrnType.JOINT or trntype == TrnType.JOINTINPARENT:
qpos = qpos_in[worldid]
jntid = actuator_trnid[actid][0]
jnt_typ = jnt_type[jntid]
qadr = jnt_qposadr[jntid]
vadr = jnt_dofadr[jntid]
if jnt_typ == wp.static(JointType.FREE.value):
if jnt_typ == JointType.FREE:
actuator_length_out[worldid, actid] = 0.0
if trntype == wp.static(TrnType.JOINTINPARENT.value):
if trntype == TrnType.JOINTINPARENT:
quat = wp.normalize(
wp.quat(
qpos[qadr + 3],
@@ -1819,23 +1811,23 @@ def _transmission(
else:
for i in range(6):
actuator_moment_out[worldid, actid, vadr + i] = gear[i]
elif jnt_typ == wp.static(JointType.BALL.value):
elif jnt_typ == JointType.BALL:
q = wp.quat(qpos[qadr + 0], qpos[qadr + 1], qpos[qadr + 2], qpos[qadr + 3])
q = wp.normalize(q)
axis_angle = math.quat_to_vel(q)
gearaxis = wp.spatial_top(gear) # [:3]
if trntype == wp.static(TrnType.JOINTINPARENT.value):
if trntype == TrnType.JOINTINPARENT:
quat_neg = math.quat_inv(q)
gearaxis = math.rot_vec_quat(gearaxis, quat_neg)
actuator_length_out[worldid, actid] = wp.dot(axis_angle, gearaxis)
for i in range(3):
actuator_moment_out[worldid, actid, vadr + i] = gearaxis[i]
elif jnt_typ == wp.static(JointType.SLIDE.value) or jnt_typ == wp.static(JointType.HINGE.value):
elif jnt_typ == JointType.SLIDE or jnt_typ == JointType.HINGE:
actuator_length_out[worldid, actid] = qpos[qadr] * gear[0]
actuator_moment_out[worldid, actid, vadr] = gear[0]
else:
wp.printf("unrecognized joint type")
elif trntype == wp.static(TrnType.SLIDERCRANK.value):
elif trntype == TrnType.SLIDERCRANK:
# get data
trnid = actuator_trnid[actid]
id = trnid[0]
@@ -1908,7 +1900,7 @@ def _transmission(
# apply the chain rule
moment = wp.dot(dlda, jacA) + wp.dot(dldv, jac)
actuator_moment_out[worldid, actid, i] = moment * gear0
elif trntype == wp.static(TrnType.TENDON.value):
elif trntype == TrnType.TENDON:
tenid = actuator_trnid[actid][0]
gear0 = gear[0]
@@ -1916,7 +1908,7 @@ def _transmission(
# fixed
adr = tendon_adr[tenid]
if wrap_type[adr] == wp.static(WrapType.JOINT.value):
if wrap_type[adr] == WrapType.JOINT:
ten_num = tendon_num[tenid]
for i in range(ten_num):
dofadr = jnt_dofadr[wrap_objid[adr + i]]
@@ -1924,7 +1916,7 @@ def _transmission(
else: # spatial
for dofadr in range(nv):
actuator_moment_out[worldid, actid, dofadr] = ten_J_in[worldid, tenid, dofadr] * gear0
elif trntype == wp.static(TrnType.BODY.value):
elif trntype == TrnType.BODY:
# cannot compute meaningful length, set to zero
actuator_length_out[worldid, actid] = 0.0
@@ -1933,7 +1925,7 @@ def _transmission(
actuator_moment_out[worldid, actid, i] = 0.0
# moment computed by _transmission_body_moment and _transmission_body_moment_scale
elif trntype == int(TrnType.SITE.value):
elif trntype == TrnType.SITE:
trnid = actuator_trnid[actid]
siteid = trnid[0]
refid = trnid[1]
@@ -2137,7 +2129,7 @@ def _transmission_body_moment(
contact_dim = contact_dim_in[conid]
contact_efc_address = contact_efc_address_in[conid]
if contact_dim == 1 or opt_cone == int(ConeType.ELLIPTIC.value):
if contact_dim == 1 or opt_cone == ConeType.ELLIPTIC:
efc_force = 1.0
efcid0 = contact_efc_address[0]
wp.atomic_add(actuator_moment_out[worldid, actid], dofid, efc_J_in[worldid, efcid0, dofid] * efc_force)
@@ -2449,6 +2441,7 @@ def _tile_cholesky_factorize_solve(tile: TileSet):
adr: wp.array(dtype=int),
# Out:
x: wp.array2d(dtype=float),
L: wp.array3d(dtype=float),
):
worldid, nodeid = wp.tid()
TILE_SIZE = wp.static(tile.size)
@@ -2458,6 +2451,7 @@ def _tile_cholesky_factorize_solve(tile: TileSet):
y_slice = wp.tile_load(y[worldid], shape=(TILE_SIZE,), offset=(dofid,))
L_tile = wp.tile_cholesky(M_tile)
wp.tile_store(L[worldid], L_tile, offset=(dofid, dofid))
x_slice = wp.tile_cholesky_solve(L_tile, y_slice)
wp.tile_store(x[worldid], x_slice, offset=(dofid,))
@@ -2465,14 +2459,19 @@ def _tile_cholesky_factorize_solve(tile: TileSet):
def _factor_solve_i_dense(
m: Model, d: Data, M: wp.array3d(dtype=float), x: wp.array2d(dtype=float), y: wp.array2d(dtype=float)
m: Model,
d: Data,
M: wp.array3d(dtype=float),
x: wp.array2d(dtype=float),
y: wp.array2d(dtype=float),
L: wp.array3d(dtype=float),
):
for tile in m.qM_tiles:
wp.launch_tiled(
_tile_cholesky_factorize_solve(tile),
dim=(d.nworld, tile.adr.size),
inputs=[M, y, tile.adr],
outputs=[x],
outputs=[x, L],
block_dim=m.block_dim.cholesky_factorize_solve,
)
@@ -2498,7 +2497,7 @@ def factor_solve_i(m, d, M, L, D, x, y):
_factor_i_sparse(m, d, M, L, D)
_solve_LD_sparse(m, d, L, D, x, y)
else:
_factor_solve_i_dense(m, d, M, x, y)
_factor_solve_i_dense(m, d, M, x, y, L)
@wp.kernel
@@ -2914,7 +2913,7 @@ def _spatial_tendon_wrap(
tendonnum = tendon_num[i]
# process fixed tendon
if wrap_type[adr] == int(WrapType.JOINT.value):
if wrap_type[adr] == WrapType.JOINT:
continue
# process spatial tendon
@@ -2927,8 +2926,8 @@ def _spatial_tendon_wrap(
id1 = wrap_objid[adr + j + 1]
# pulley
pulley0 = type0 == int(WrapType.PULLEY.value)
if pulley0 or type1 == int(WrapType.PULLEY.value):
pulley0 = type0 == WrapType.PULLEY
if pulley0 or type1 == WrapType.PULLEY:
if pulley0:
row = wrapcount // 2
col = wrapcount % 2
@@ -2949,7 +2948,7 @@ def _spatial_tendon_wrap(
wpnt_site0 = site_xpos_in[worldid, id0]
# second object is geom: process site-geom-site
if type1 == int(WrapType.SPHERE.value) or type1 == int(WrapType.CYLINDER.value):
if type1 == WrapType.SPHERE or type1 == WrapType.CYLINDER:
wrap_geom_xpos = wrap_geom_xpos_in[worldid, wrapgeomid]
wpnt_geom0 = wp.spatial_top(wrap_geom_xpos)
wrapgeomid += 1
@@ -3024,7 +3023,7 @@ def _spatial_tendon_wrap(
# assign last site before pulley or tendon end
if adr + j + 1 < wrap_type.shape[0]:
last_before_pulley = wrap_type[adr + j + 1] == int(WrapType.PULLEY.value)
last_before_pulley = wrap_type[adr + j + 1] == WrapType.PULLEY
else:
last_before_pulley = False
mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth_test.py
Vendored
+70 -67
View File
@@ -21,10 +21,10 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src import types
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import ConeType
from mujoco.mjx.third_party.mujoco_warp import DisableBit
from mujoco.mjx.third_party.mujoco_warp import test_data
# tolerance for difference between MuJoCo and MJWarp smooth calculations - mostly
# due to float precision
@@ -40,7 +40,7 @@ def _assert_eq(a, b, name):
class SmoothTest(parameterized.TestCase):
def test_kinematics(self):
"""Tests kinematics."""
_, mjd, m, d = test_util.fixture("pendula.xml")
_, mjd, m, d = test_data.fixture("pendula.xml")
for arr in (
d.xanchor,
@@ -57,7 +57,7 @@ class SmoothTest(parameterized.TestCase):
):
arr.zero_()
mjwarp.kinematics(m, d)
mjw.kinematics(m, d)
_assert_eq(d.xanchor.numpy()[0], mjd.xanchor, "xanchor")
_assert_eq(d.xaxis.numpy()[0], mjd.xaxis, "xaxis")
@@ -73,99 +73,93 @@ class SmoothTest(parameterized.TestCase):
def test_com_pos(self):
"""Tests com_pos."""
_, mjd, m, d = test_util.fixture("pendula.xml")
_, mjd, m, d = test_data.fixture("pendula.xml")
for arr in (d.subtree_com, d.cinert, d.cdof):
arr.zero_()
mjwarp.com_pos(m, d)
mjw.com_pos(m, d)
_assert_eq(d.subtree_com.numpy()[0], mjd.subtree_com, "subtree_com")
_assert_eq(d.cinert.numpy()[0], mjd.cinert, "cinert")
_assert_eq(d.cdof.numpy()[0], mjd.cdof, "cdof")
def test_camlight(self):
"""Tests camlight."""
_, mjd, m, d = test_util.fixture("pendula.xml")
_, mjd, m, d = test_data.fixture("pendula.xml")
d.cam_xpos.zero_()
d.cam_xmat.zero_()
d.light_xpos.zero_()
d.light_xdir.zero_()
mjwarp.camlight(m, d)
mjw.camlight(m, d)
_assert_eq(d.cam_xpos.numpy()[0], mjd.cam_xpos, "cam_xpos")
_assert_eq(d.cam_xmat.numpy()[0], mjd.cam_xmat.reshape((-1, 3, 3)), "cam_xmat")
_assert_eq(d.light_xpos.numpy()[0], mjd.light_xpos, "light_xpos")
_assert_eq(d.light_xdir.numpy()[0], mjd.light_xdir, "light_xdir")
@parameterized.parameters(True, False)
def test_crb(self, sparse: bool):
@parameterized.parameters(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE)
def test_crb(self, jacobian):
"""Tests crb."""
mjm, mjd, m, d = test_util.fixture("pendula.xml", sparse=sparse)
mjm, mjd, m, d = test_data.fixture("pendula.xml", overrides={"opt.jacobian": jacobian})
d.crb.zero_()
mjwarp.crb(m, d)
mjw.crb(m, d)
_assert_eq(d.crb.numpy()[0], mjd.crb, "crb")
if sparse:
if jacobian == mujoco.mjtJacobian.mjJAC_SPARSE:
_assert_eq(d.qM.numpy()[0, 0], mjd.qM, "qM")
else:
qM = np.zeros((mjm.nv, mjm.nv))
mujoco.mj_fullM(mjm, qM, mjd.qM)
_assert_eq(d.qM.numpy()[0], qM, "qM")
@parameterized.parameters(True, False)
def test_factor_m(self, sparse: bool):
@parameterized.parameters(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE)
def test_factor_m(self, jacobian):
"""Tests factor_m."""
_, mjd, m, d = test_util.fixture("pendula.xml", sparse=sparse)
_, mjd, m, d = test_data.fixture("pendula.xml", overrides={"opt.jacobian": jacobian})
qLD = d.qLD.numpy()[0].copy()
for arr in (d.qLD, d.qLDiagInv):
arr.zero_()
mjwarp.factor_m(m, d)
mjw.factor_m(m, d)
if sparse:
if jacobian == mujoco.mjtJacobian.mjJAC_SPARSE:
_assert_eq(d.qLD.numpy()[0, 0], mjd.qLD, "qLD (sparse)")
_assert_eq(d.qLDiagInv.numpy()[0], mjd.qLDiagInv, "qLDiagInv")
else:
_assert_eq(d.qLD.numpy()[0], qLD, "qLD (dense)")
@parameterized.parameters(True, False)
def test_solve_m(self, sparse: bool):
@parameterized.parameters(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE)
def test_solve_m(self, jacobian):
"""Tests solve_m."""
mjm, mjd, m, d = test_util.fixture("pendula.xml", sparse=sparse)
mjm, mjd, m, d = test_data.fixture("pendula.xml", overrides={"opt.jacobian": jacobian})
qfrc_smooth = np.tile(mjd.qfrc_smooth, (1, 1))
qacc_smooth = np.zeros(
shape=(
1,
mjm.nv,
),
dtype=float,
)
qacc_smooth = np.zeros(shape=(1, mjm.nv), dtype=float)
mujoco.mj_solveM(mjm, mjd, qacc_smooth, qfrc_smooth)
d.qacc_smooth.zero_()
mjwarp.solve_m(m, d, d.qacc_smooth, d.qfrc_smooth)
mjw.solve_m(m, d, d.qacc_smooth, d.qfrc_smooth)
_assert_eq(d.qacc_smooth.numpy()[0], qacc_smooth[0], "qacc_smooth")
@parameterized.parameters(True, False)
@parameterized.parameters(0, DisableBit.GRAVITY)
def test_rne(self, gravity):
"""Tests rne."""
_, mjd, m, d = test_util.fixture("pendula.xml", gravity=gravity)
_, mjd, m, d = test_data.fixture("pendula.xml", overrides={"opt.disableflags": DisableBit.CONTACT | gravity})
d.qfrc_bias.zero_()
mjwarp.rne(m, d)
mjw.rne(m, d)
_assert_eq(d.qfrc_bias.numpy()[0], mjd.qfrc_bias, "qfrc_bias")
@parameterized.parameters(True, False)
@parameterized.parameters(0, DisableBit.GRAVITY)
def test_rne_postconstraint(self, gravity):
"""Tests rne_postconstraint."""
mjm, mjd, m, d = test_util.fixture("pendula.xml", gravity=gravity)
mjm, mjd, m, d = test_data.fixture("pendula.xml", overrides={"opt.disableflags": DisableBit.CONTACT | gravity})
mjd.xfrc_applied = np.random.uniform(low=-0.01, high=0.01, size=mjd.xfrc_applied.shape)
d.xfrc_applied = wp.array(np.expand_dims(mjd.xfrc_applied, axis=0), dtype=wp.spatial_vector)
@@ -175,7 +169,7 @@ class SmoothTest(parameterized.TestCase):
for arr in (d.cacc, d.cfrc_int, d.cfrc_ext):
arr.zero_()
mjwarp.rne_postconstraint(m, d)
mjw.rne_postconstraint(m, d)
_assert_eq(d.cacc.numpy()[0], mjd.cacc, "cacc")
_assert_eq(d.cfrc_int.numpy()[0], mjd.cfrc_int, "cfrc_int")
@@ -218,16 +212,16 @@ class SmoothTest(parameterized.TestCase):
</keyframe>
</mujoco>
"""
mjm, mjd, m, d = test_util.fixture(xml=_EQUALITY, kick=True, keyframe=0)
mjm, mjd, m, d = test_data.fixture(xml=_EQUALITY, qvel_noise=0.01, ctrl_noise=0.1, keyframe=0)
mujoco.mj_rnePostConstraint(mjm, mjd)
d.cfrc_ext.zero_()
mjwarp.rne_postconstraint(m, d)
mjw.rne_postconstraint(m, d)
_assert_eq(d.cfrc_ext.numpy()[0], mjd.cfrc_ext, "cfrc_ext (equality)")
mjm, mjd, m, d = test_util.fixture("constraints.xml", keyframe=1, equality=False)
mjm, mjd, m, d = test_data.fixture("constraints.xml", keyframe=1, overrides={"opt.disableflags": DisableBit.EQUALITY})
mujoco.mj_rnePostConstraint(mjm, mjd)
@@ -238,25 +232,25 @@ class SmoothTest(parameterized.TestCase):
d.ne_weld.zero_()
d.ne_jnt.zero_()
mjwarp.rne_postconstraint(m, d)
mjw.rne_postconstraint(m, d)
_assert_eq(d.cfrc_ext.numpy()[0], mjd.cfrc_ext, "cfrc_ext (contact)")
def test_com_vel(self):
"""Tests com_vel."""
_, mjd, m, d = test_util.fixture("pendula.xml")
_, mjd, m, d = test_data.fixture("pendula.xml")
for arr in (d.cvel, d.cdof_dot):
arr.zero_()
mjwarp.com_vel(m, d)
mjw.com_vel(m, d)
_assert_eq(d.cvel.numpy()[0], mjd.cvel, "cvel")
_assert_eq(d.cdof_dot.numpy()[0], mjd.cdof_dot, "cdof_dot")
@parameterized.parameters("pendula.xml", "actuation/site.xml", "actuation/slidercrank.xml")
def test_transmission(self, xml):
"""Tests transmission."""
mjm, mjd, m, d = test_util.fixture(xml)
mjm, mjd, m, d = test_data.fixture(xml)
for arr in (d.actuator_length, d.actuator_moment):
arr.zero_()
@@ -270,20 +264,20 @@ class SmoothTest(parameterized.TestCase):
mjd.moment_colind,
)
mjwarp._src.smooth.transmission(m, d)
mjw._src.smooth.transmission(m, d)
_assert_eq(d.actuator_length.numpy()[0], mjd.actuator_length, "actuator_length")
_assert_eq(d.actuator_moment.numpy()[0], actuator_moment, "actuator_moment")
@parameterized.product(keyframe=list(range(4)), cone=list(types.ConeType))
@parameterized.product(keyframe=list(range(4)), cone=list(ConeType))
def test_actuator_adhesion(self, keyframe, cone):
"""Tests adhesion actuator."""
mjm, mjd, m, d = test_util.fixture("actuation/adhesion.xml", keyframe=keyframe, cone=cone)
mjm, mjd, m, d = test_data.fixture("actuation/adhesion.xml", keyframe=keyframe, overrides={"opt.cone": cone})
d.actuator_length.zero_()
d.actuator_moment.zero_()
mjwarp._src.collision_driver.collision(m, d) # compute contact.includemargin
mjwarp._src.constraint.make_constraint(m, d) # compute contact.efc_address
mjwarp._src.smooth.transmission(m, d)
mjw._src.collision_driver.collision(m, d) # compute contact.includemargin
mjw._src.constraint.make_constraint(m, d) # compute contact.efc_address
mjw._src.smooth.transmission(m, d)
actuator_moment = np.zeros((mjm.nu, mjm.nv))
mujoco.mju_sparse2dense(actuator_moment, mjd.actuator_moment, mjd.moment_rownnz, mjd.moment_rowadr, mjd.moment_colind)
@@ -293,13 +287,13 @@ class SmoothTest(parameterized.TestCase):
def test_subtree_vel(self):
"""Tests subtree_vel."""
mjm, mjd, m, d = test_util.fixture("pendula.xml")
mjm, mjd, m, d = test_data.fixture("pendula.xml")
for arr in (d.subtree_linvel, d.subtree_angmom):
arr.zero_()
mujoco.mj_subtreeVel(mjm, mjd)
mjwarp.subtree_vel(m, d)
mjw.subtree_vel(m, d)
_assert_eq(d.subtree_linvel.numpy()[0], mjd.subtree_linvel, "subtree_linvel")
_assert_eq(d.subtree_angmom.numpy()[0], mjd.subtree_angmom, "subtree_angmom")
@@ -317,13 +311,13 @@ class SmoothTest(parameterized.TestCase):
)
def test_tendon(self, xml):
"""Tests tendon."""
mjm, mjd, m, d = test_util.fixture(xml, keyframe=0)
mjm, mjd, m, d = test_data.fixture(xml, keyframe=0)
for arr in (d.ten_length, d.ten_J, d.actuator_length, d.actuator_moment):
arr.zero_()
mjwarp.tendon(m, d)
mjwarp.transmission(m, d)
mjw.tendon(m, d)
mjw.transmission(m, d)
_assert_eq(d.ten_length.numpy()[0], mjd.ten_length, "ten_length")
_assert_eq(d.ten_J.numpy()[0], mjd.ten_J.reshape((mjm.ntendon, mjm.nv)), "ten_J")
@@ -342,9 +336,9 @@ class SmoothTest(parameterized.TestCase):
)
_assert_eq(d.actuator_moment.numpy()[0], actuator_moment, "actuator_moment")
@parameterized.parameters(True, False)
def test_factor_solve_i(self, sparse):
mjm, mjd, m, d = test_util.fixture(
@parameterized.parameters(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE)
def test_factor_solve_i(self, jacobian):
mjm, mjd, m, d = test_data.fixture(
xml="""
<mujoco>
<worldbody>
@@ -355,31 +349,40 @@ class SmoothTest(parameterized.TestCase):
</worldbody>
</mujoco>
""",
sparse=sparse,
overrides={"opt.jacobian": jacobian},
)
qM = np.zeros((mjm.nv, mjm.nv))
mujoco.mj_fullM(mjm, qM, mjd.qM)
d.qLD.zero_()
sparse = jacobian == mujoco.mjtJacobian.mjJAC_SPARSE
d.qLD.fill_(wp.inf)
if sparse:
d.qLDiagInv.zero_()
d.qLDiagInv.fill_(wp.inf)
res = wp.zeros((1, mjm.nv), dtype=float)
vec = wp.ones((1, mjm.nv), dtype=float)
mjwarp._src.smooth.factor_solve_i(m, d, d.qM, d.qLD, d.qLDiagInv, res, vec)
mjw._src.smooth.factor_solve_i(m, d, d.qM, d.qLD, d.qLDiagInv, res, vec)
_assert_eq(res.numpy()[0], np.linalg.solve(qM, vec.numpy()[0]), "qM \\ 1")
if sparse:
_assert_eq(d.qLD.numpy()[0].reshape(-1), mjd.qLD, "qLD")
_assert_eq(d.qLDiagInv.numpy()[0], mjd.qLDiagInv, "qLDiagInv")
else:
qLD = np.linalg.cholesky(qM)
_assert_eq(d.qLD.numpy()[0], qLD, "qLD")
def test_tendon_armature(self):
mjm, mjd, m, d = test_util.fixture("tendon/armature.xml", keyframe=0)
mjm, mjd, m, d = test_data.fixture("tendon/armature.xml", keyframe=0)
# qM
d.qM.zero_()
mjwarp._src.smooth.crb(m, d)
mjwarp._src.smooth.tendon_armature(m, d)
mjw._src.smooth.crb(m, d)
mjw._src.smooth.tendon_armature(m, d)
qM = np.zeros((mjm.nv, mjm.nv))
mujoco.mj_fullM(mjm, qM, mjd.qM)
@@ -388,8 +391,8 @@ class SmoothTest(parameterized.TestCase):
# qfrc_bias
d.qfrc_bias.zero_()
mjwarp._src.smooth.rne(m, d)
mjwarp._src.smooth.tendon_bias(m, d, d.qfrc_bias)
mjw._src.smooth.rne(m, d)
mjw._src.smooth.tendon_bias(m, d, d.qfrc_bias)
_assert_eq(d.qfrc_bias.numpy()[0], mjd.qfrc_bias, "qfrc_bias")
mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py
Vendored
+20 -20
View File
@@ -177,7 +177,7 @@ def _eval_init(
lo += _eval_pt(quad_f, alpha)
for efcid in range(nef_clip, nefc_clip):
if type_in[efcid] == int(types.ConstraintType.CONTACT_ELLIPTIC.value):
if type_in[efcid] == types.ConstraintType.CONTACT_ELLIPTIC:
conid = id_in[efcid]
efcid0 = contact_efc_address_in[conid, 0]
@@ -255,7 +255,7 @@ def _eval(
mid += _eval_pt(quad_f, mid_alpha)
for efcid in range(nef_clip, nefc_clip):
if type_in[efcid] == int(types.ConstraintType.CONTACT_ELLIPTIC.value):
if type_in[efcid] == types.ConstraintType.CONTACT_ELLIPTIC:
conid = id_in[efcid]
efcid0 = contact_efc_address_in[conid, 0]
@@ -557,7 +557,7 @@ def linesearch_parallel_fused(
out += _eval_cost(quad, alpha)
# limit and contact
elif efc_type_in[worldid, efcid] == int(types.ConstraintType.CONTACT_ELLIPTIC.value):
elif efc_type_in[worldid, efcid] == types.ConstraintType.CONTACT_ELLIPTIC:
# extract contact info
conid = efc_id_in[worldid, efcid]
@@ -801,7 +801,7 @@ def linesearch_prepare_quad(
quad = wp.vec3(0.5 * Jaref * Jaref * efc_D, jv * Jaref * efc_D, 0.5 * jv * jv * efc_D)
# elliptic cone: extra processing
if efc_type_in[worldid, efcid] == int(types.ConstraintType.CONTACT_ELLIPTIC.value):
if efc_type_in[worldid, efcid] == types.ConstraintType.CONTACT_ELLIPTIC:
# extract contact info
conid = efc_id_in[worldid, efcid]
@@ -1099,7 +1099,7 @@ def update_constraint_efc(
if efcid < ne:
# equality
efc_force_out[worldid, efcid] = -efc_D * Jaref
efc_state_out[worldid, efcid] = int(types.ConstraintState.QUADRATIC.value)
efc_state_out[worldid, efcid] = types.ConstraintState.QUADRATIC
wp.atomic_add(efc_cost_out, worldid, 0.5 * efc_D * Jaref * Jaref)
elif efcid < ne + nf:
# friction
@@ -1107,24 +1107,24 @@ def update_constraint_efc(
rf = math.safe_div(f, efc_D)
if Jaref <= -rf:
efc_force_out[worldid, efcid] = f
efc_state_out[worldid, efcid] = int(types.ConstraintState.LINEARNEG.value)
efc_state_out[worldid, efcid] = types.ConstraintState.LINEARNEG
wp.atomic_add(efc_cost_out, worldid, -f * (0.5 * rf + Jaref))
elif Jaref >= rf:
efc_force_out[worldid, efcid] = -f
efc_state_out[worldid, efcid] = int(types.ConstraintState.LINEARPOS.value)
efc_state_out[worldid, efcid] = types.ConstraintState.LINEARPOS
wp.atomic_add(efc_cost_out, worldid, -f * (0.5 * rf - Jaref))
else:
efc_force_out[worldid, efcid] = -efc_D * Jaref
efc_state_out[worldid, efcid] = int(types.ConstraintState.QUADRATIC.value)
efc_state_out[worldid, efcid] = types.ConstraintState.QUADRATIC
wp.atomic_add(efc_cost_out, worldid, 0.5 * efc_D * Jaref * Jaref)
elif efc_type_in[worldid, efcid] != int(types.ConstraintType.CONTACT_ELLIPTIC.value):
elif efc_type_in[worldid, efcid] != types.ConstraintType.CONTACT_ELLIPTIC:
# limit, frictionless contact, pyramidal friction cone contact
if Jaref >= 0.0:
efc_force_out[worldid, efcid] = 0.0
efc_state_out[worldid, efcid] = int(types.ConstraintState.SATISFIED.value)
efc_state_out[worldid, efcid] = types.ConstraintState.SATISFIED
else:
efc_force_out[worldid, efcid] = -efc_D * Jaref
efc_state_out[worldid, efcid] = int(types.ConstraintState.QUADRATIC.value)
efc_state_out[worldid, efcid] = types.ConstraintState.QUADRATIC
wp.atomic_add(efc_cost_out, worldid, 0.5 * efc_D * Jaref * Jaref)
else: # elliptic friction cone contact
conid = efc_id_in[worldid, efcid]
@@ -1162,11 +1162,11 @@ def update_constraint_efc(
# top zone
if (N >= mu * T) or ((T <= 0.0) and (N >= 0.0)):
efc_force_out[worldid, efcid] = 0.0
efc_state_out[worldid, efcid] = int(types.ConstraintState.SATISFIED.value)
efc_state_out[worldid, efcid] = types.ConstraintState.SATISFIED
# bottom zone
elif (mu * N + T <= 0.0) or ((T <= 0.0) and (N < 0.0)):
efc_force_out[worldid, efcid] = -efc_D * Jaref
efc_state_out[worldid, efcid] = int(types.ConstraintState.QUADRATIC.value)
efc_state_out[worldid, efcid] = types.ConstraintState.QUADRATIC
wp.atomic_add(efc_cost_out, worldid, 0.5 * efc_D * Jaref * Jaref)
# middle zone
else:
@@ -1181,7 +1181,7 @@ def update_constraint_efc(
else:
efc_force_out[worldid, efcid] = -math.safe_div(force, T) * ufrictionj
efc_state_out[worldid, efcid] = int(types.ConstraintState.CONE.value)
efc_state_out[worldid, efcid] = types.ConstraintState.CONE
@wp.kernel
@@ -1395,7 +1395,7 @@ def update_gradient_JTDAJ_sparse(
efc_Jj = efc_J_in[worldid, 0, dofj]
sum_h = float(0.0)
for efcid in range(min(njmax_in, nefc) - 1):
if efc_state == int(types.ConstraintState.QUADRATIC.value) and efc_D != 0.0:
if efc_state == types.ConstraintState.QUADRATIC and efc_D != 0.0:
sum_h += efc_Ji * efc_Jj * efc_D
jj = efcid + 1
@@ -1405,7 +1405,7 @@ def update_gradient_JTDAJ_sparse(
efc_state = efc_state_in[worldid, jj]
# Adding the contribution from the last constraint row
if efc_state == int(types.ConstraintState.QUADRATIC.value) and efc_D != 0.0:
if efc_state == types.ConstraintState.QUADRATIC and efc_D != 0.0:
sum_h += efc_Ji * efc_Jj * efc_D
efc_h_out[worldid, dofi, dofj] = sum_h
@@ -1443,7 +1443,7 @@ def update_gradient_JTDAJ_dense(
efc_Jj = efc_J_in[worldid, 0, dofj]
sum_h = float(0.0)
for efcid in range(min(njmax_in, nefc) - 1):
if efc_state == int(types.ConstraintState.QUADRATIC.value) and efc_D != 0.0:
if efc_state == types.ConstraintState.QUADRATIC and efc_D != 0.0:
sum_h += efc_Ji * efc_Jj * efc_D
jj = efcid + 1
@@ -1453,7 +1453,7 @@ def update_gradient_JTDAJ_dense(
efc_state = efc_state_in[worldid, jj]
# Adding the contribution from the last constraint row
if efc_state == int(types.ConstraintState.QUADRATIC.value) and efc_D != 0.0:
if efc_state == types.ConstraintState.QUADRATIC and efc_D != 0.0:
sum_h += efc_Ji * efc_Jj * efc_D
qM = qM_in[worldid, dofi, dofj]
@@ -1512,7 +1512,7 @@ def update_gradient_JTCJ(
continue
efcid0 = contact_efc_address_in[conid, 0]
if efc_state_in[worldid, efcid0] != int(types.ConstraintState.CONE.value):
if efc_state_in[worldid, efcid0] != types.ConstraintState.CONE:
continue
fri = contact_friction_in[conid]
@@ -1867,7 +1867,7 @@ def solve_search_update(
search = -1.0 * efc_Mgrad_in[worldid, dofid]
if opt_solver == wp.static(types.SolverType.CG.value):
if opt_solver == types.SolverType.CG:
search += efc_beta_in[worldid] * efc_search_in[worldid, dofid]
efc_search_out[worldid, dofid] = search
mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver_test.py
Vendored
+60 -87
View File
@@ -21,13 +21,13 @@ import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import ConeType
from mujoco.mjx.third_party.mujoco_warp import SolverType
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp._src import solver
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.math import safe_div
from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
from mujoco.mjx.third_party.mujoco_warp._src.types import SolverType
# tolerance for difference between MuJoCo and MJWarp solver calculations - mostly
# due to float precision
@@ -45,12 +45,10 @@ class SolverTest(parameterized.TestCase):
def test_constraint_update(self, cone, solver_):
"""Tests _update_constraint function is correct."""
for keyframe in range(3):
mjm, mjd, m, d = test_util.fixture(
mjm, mjd, m, d = test_data.fixture(
"constraints.xml",
keyframe=keyframe,
cone=cone,
solver=solver_,
iterations=0,
overrides={"opt.solver": solver_, "opt.cone": cone, "opt.iterations": 0},
)
def cost(qacc):
@@ -65,7 +63,7 @@ class SolverTest(parameterized.TestCase):
# solve with 0 iterations just initializes constraints and costs and then exits
d.efc.force.zero_()
d.qfrc_constraint.zero_()
mjwarp.solve(m, d)
mjw.solve(m, d)
# Get the ordering indices based on efc_force, efc_state for MJWarp
nefc = d.nefc.numpy()[0]
@@ -96,16 +94,14 @@ class SolverTest(parameterized.TestCase):
"""Test linesearch initialization."""
for keyframe in range(3):
# TODO(team): Add the case of elliptic cone friction
mjm, mjd, m, d = test_util.fixture(
mjm, mjd, m, d = test_data.fixture(
"constraints.xml",
keyframe=keyframe,
cone=ConeType.PYRAMIDAL,
iterations=0,
ls_iterations=0,
overrides={"opt.iterations": 0, "opt.ls_iterations": 0},
)
# One step to obtain more non-zeros results
mjwarp.step(m, d)
mjw.step(m, d)
# Calculate target values
efc_search_np = d.efc.search.numpy()[0]
@@ -151,25 +147,19 @@ class SolverTest(parameterized.TestCase):
_assert_eq(efc_quad_gauss, target_quad_gauss, "quad_gauss")
_assert_eq(efc_quad[:nefc], target_quad[:nefc], "quad")
@parameterized.parameters(
(ConeType.PYRAMIDAL, False),
(ConeType.ELLIPTIC, False),
(ConeType.PYRAMIDAL, True),
(ConeType.ELLIPTIC, True),
@parameterized.product(
cone=(ConeType.PYRAMIDAL, ConeType.ELLIPTIC), jacobian=(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE)
)
def test_update_gradient_CG(self, cone, sparse):
def test_update_gradient_CG(self, cone, jacobian):
"""Test _update_gradient function is correct for the CG solver."""
mjm, mjd, m, d = test_util.fixture(
mjm, mjd, m, d = test_data.fixture(
"humanoid/humanoid.xml",
cone=cone,
solver=SolverType.CG,
sparse=sparse,
iterations=0,
keyframe=0,
overrides={"opt.cone": cone, "opt.solver": SolverType.CG, "opt.jacobian": jacobian, "opt.iterations": 0},
)
# Solve with 0 iterations just initializes and exit
mjwarp.solve(m, d)
mjw.solve(m, d)
# Calculate Mgrad with Mujoco C
mj_Mgrad = np.zeros(shape=(1, mjm.nv), dtype=float)
@@ -182,22 +172,19 @@ class SolverTest(parameterized.TestCase):
@parameterized.parameters(ConeType.PYRAMIDAL, ConeType.ELLIPTIC)
def test_parallel_linesearch(self, cone):
"""Test that iterative and parallel linesearch leads to equivalent results."""
_, _, m, d = test_util.fixture(
_, _, m, d = test_data.fixture(
"humanoid/humanoid.xml",
cone=cone,
ls_parallel=False,
iterations=50,
ls_iterations=50,
qpos_noise=0.01,
overrides={"opt.cone": cone, "opt.iterations": 50, "opt.ls_iterations": 50},
)
# One step to obtain more non-zeros results
mjwarp.step(m, d)
mjw.step(m, d)
# Preparing for linesearch
m.opt.iterations = 0
mjwarp.fwd_velocity(m, d)
mjwarp.fwd_acceleration(m, d, factorize=True)
mjw.fwd_velocity(m, d)
mjw.fwd_acceleration(m, d, factorize=True)
solver.solve(m, d)
# Storing some initial values
@@ -233,25 +220,27 @@ class SolverTest(parameterized.TestCase):
self.assertLessEqual(abs(alpha_iterative - alpha_parallel_50), abs(alpha_iterative - alpha_parallel_10))
@parameterized.parameters(
(ConeType.PYRAMIDAL, SolverType.CG, 10, 5, False, False),
(ConeType.ELLIPTIC, SolverType.CG, 10, 5, False, False),
(ConeType.PYRAMIDAL, SolverType.NEWTON, 5, 10, False, False),
(ConeType.ELLIPTIC, SolverType.NEWTON, 5, 10, False, False),
(ConeType.PYRAMIDAL, SolverType.NEWTON, 5, 64, True, True),
(ConeType.ELLIPTIC, SolverType.NEWTON, 5, 64, True, True),
(ConeType.PYRAMIDAL, SolverType.CG, 10, 5, mujoco.mjtJacobian.mjJAC_DENSE, False),
(ConeType.ELLIPTIC, SolverType.CG, 10, 5, mujoco.mjtJacobian.mjJAC_DENSE, False),
(ConeType.PYRAMIDAL, SolverType.NEWTON, 5, 10, mujoco.mjtJacobian.mjJAC_DENSE, False),
(ConeType.ELLIPTIC, SolverType.NEWTON, 5, 10, mujoco.mjtJacobian.mjJAC_DENSE, False),
(ConeType.PYRAMIDAL, SolverType.NEWTON, 5, 64, mujoco.mjtJacobian.mjJAC_SPARSE, True),
(ConeType.ELLIPTIC, SolverType.NEWTON, 5, 64, mujoco.mjtJacobian.mjJAC_SPARSE, True),
)
def test_solve(self, cone, solver_, iterations, ls_iterations, sparse, ls_parallel):
def test_solve(self, cone, solver_, iterations, ls_iterations, jacobian, ls_parallel):
"""Tests solve."""
for keyframe in range(3):
mjm, mjd, m, d = test_util.fixture(
mjm, mjd, m, d = test_data.fixture(
"constraints.xml",
keyframe=keyframe,
sparse=sparse,
cone=cone,
solver=solver_,
iterations=iterations,
ls_iterations=ls_iterations,
ls_parallel=ls_parallel,
overrides={
"opt.jacobian": jacobian,
"opt.cone": cone,
"opt.solver": solver_,
"opt.iterations": iterations,
"opt.ls_iterations": ls_iterations,
"opt.ls_parallel": ls_parallel,
},
)
mujoco.mj_forward(mjm, mjd)
@@ -261,8 +250,8 @@ class SolverTest(parameterized.TestCase):
d.efc.force.zero_()
if solver_ == mujoco.mjtSolver.mjSOL_CG:
mjwarp.factor_m(m, d)
mjwarp.solve(m, d)
mjw.factor_m(m, d)
mjw.solve(m, d)
def cost(qacc):
jaref = np.zeros(mjd.nefc, dtype=float)
@@ -287,40 +276,28 @@ class SolverTest(parameterized.TestCase):
def test_solve_batch(self, cone, solver_, iterations, ls_iterations):
"""Tests solve (batch)."""
mjm0, mjd0, _, _ = test_util.fixture(
mjm0, mjd0, _, _ = test_data.fixture(
"humanoid/humanoid.xml",
keyframe=0,
sparse=False,
cone=cone,
solver=solver_,
iterations=iterations,
ls_iterations=ls_iterations,
overrides={"opt.cone": cone, "opt.solver": solver_, "opt.iterations": iterations, "opt.ls_iterations": ls_iterations},
)
qacc_warmstart0 = mjd0.qacc_warmstart.copy()
mujoco.mj_forward(mjm0, mjd0)
mjd0.qacc_warmstart = qacc_warmstart0
mjm1, mjd1, _, _ = test_util.fixture(
mjm1, mjd1, _, _ = test_data.fixture(
"humanoid/humanoid.xml",
keyframe=2,
sparse=False,
cone=cone,
solver=solver_,
iterations=iterations,
ls_iterations=ls_iterations,
overrides={"opt.cone": cone, "opt.solver": solver_, "opt.iterations": iterations, "opt.ls_iterations": ls_iterations},
)
qacc_warmstart1 = mjd1.qacc_warmstart.copy()
mujoco.mj_forward(mjm1, mjd1)
mjd1.qacc_warmstart = qacc_warmstart1
mjm2, mjd2, _, _ = test_util.fixture(
mjm2, mjd2, _, _ = test_data.fixture(
"humanoid/humanoid.xml",
keyframe=1,
sparse=False,
cone=cone,
solver=solver_,
iterations=iterations,
ls_iterations=ls_iterations,
overrides={"opt.cone": cone, "opt.solver": solver_, "opt.iterations": iterations, "opt.ls_iterations": ls_iterations},
)
qacc_warmstart2 = mjd2.qacc_warmstart.copy()
mujoco.mj_forward(mjm2, mjd2)
@@ -329,15 +306,11 @@ class SolverTest(parameterized.TestCase):
nefc_active = mjd0.nefc + mjd1.nefc + mjd2.nefc
ne_active = mjd0.ne + mjd1.ne + mjd2.ne
mjm, mjd, m, _ = test_util.fixture(
mjm, mjd, m, _ = test_data.fixture(
"humanoid/humanoid.xml",
sparse=False,
cone=cone,
solver=solver_,
iterations=iterations,
ls_iterations=ls_iterations,
overrides={"opt.cone": cone, "opt.solver": solver_, "opt.iterations": iterations, "opt.ls_iterations": ls_iterations},
)
d = mjwarp.put_data(mjm, mjd, nworld=3, njmax=2 * nefc_active)
d = mjw.put_data(mjm, mjd, nworld=3, njmax=2 * nefc_active)
d.nefc = wp.array([nefc_active, nefc_active, nefc_active], dtype=wp.int32, ndim=1)
d.ne = wp.array([ne_active, ne_active, ne_active], dtype=wp.int32, ndim=1)
@@ -417,19 +390,19 @@ class SolverTest(parameterized.TestCase):
d.efc.aref = wp.from_numpy(efc_aref_fill, dtype=wp.float32)
if solver_ == SolverType.CG:
m0 = mjwarp.put_model(mjm0)
d0 = mjwarp.put_data(mjm0, mjd0)
mjwarp.factor_m(m0, d0)
m0 = mjw.put_model(mjm0)
d0 = mjw.put_data(mjm0, mjd0)
mjw.factor_m(m0, d0)
qLD0 = d0.qLD.numpy()
m1 = mjwarp.put_model(mjm1)
d1 = mjwarp.put_data(mjm1, mjd1)
mjwarp.factor_m(m1, d1)
m1 = mjw.put_model(mjm1)
d1 = mjw.put_data(mjm1, mjd1)
mjw.factor_m(m1, d1)
qLD1 = d1.qLD.numpy()
m2 = mjwarp.put_model(mjm2)
d2 = mjwarp.put_data(mjm2, mjd2)
mjwarp.factor_m(m2, d2)
m2 = mjw.put_model(mjm2)
d2 = mjw.put_data(mjm2, mjd2)
mjw.factor_m(m2, d2)
qLD2 = d2.qLD.numpy()
qLD = np.vstack([qLD0, qLD1, qLD2])
@@ -492,8 +465,8 @@ class SolverTest(parameterized.TestCase):
def test_frictionloss(self):
"""Tests solver with frictionloss."""
for keyframe in range(3):
_, mjd, m, d = test_util.fixture("constraints.xml", keyframe=keyframe)
mjwarp.solve(m, d)
_, mjd, m, d = test_data.fixture("constraints.xml", keyframe=keyframe)
mjw.solve(m, d)
_assert_eq(d.nf.numpy()[0], mjd.nf, "nf")
_assert_eq(d.qacc.numpy()[0], mjd.qacc, "qacc")
mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py
Vendored
+4 -2
View File
@@ -17,6 +17,7 @@ from typing import Tuple
import warp as wp
from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import Geom
from mujoco.mjx.third_party.mujoco_warp._src.math import motion_cross
from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
from mujoco.mjx.third_party.mujoco_warp._src.types import Data
@@ -24,6 +25,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import JointType
from mujoco.mjx.third_party.mujoco_warp._src.types import Model
from mujoco.mjx.third_party.mujoco_warp._src.types import TileSet
from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
from mujoco.mjx.third_party.mujoco_warp._src.types import vec6
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
@@ -311,7 +313,7 @@ def contact_force_fn(
efc_address = contact_efc_address_in[contact_id, 0]
if contact_id >= 0 and contact_id <= ncon_in[0] and efc_address >= 0:
if opt_cone == int(ConeType.PYRAMIDAL.value):
if opt_cone == ConeType.PYRAMIDAL:
force = _decode_pyramid(
njmax_in,
efc_force_in[worldid],
@@ -511,7 +513,7 @@ def jac_dot(
jnttype = jnt_type[dofjntid]
jntdofadr = jnt_dofadr[dofjntid]
if (jnttype == int(JointType.BALL.value)) or ((jnttype == int(JointType.FREE.value)) and dofid >= jntdofadr + 3):
if (jnttype == JointType.BALL) or ((jnttype == JointType.FREE) and dofid >= jntdofadr + 3):
# compute cdof_dot for quaternion (use current body cvel)
cvel = cvel_in[worldid, dof_bodyid[dofid]]
cdof_dot = motion_cross(cvel, cdof)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/support_test.py
Vendored
+8 -9
View File
@@ -22,9 +22,8 @@ from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjwarp
from mujoco.mjx.third_party.mujoco_warp._src import test_util
from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
from mujoco.mjx.third_party.mujoco_warp import ConeType
from mujoco.mjx.third_party.mujoco_warp import test_data
# tolerance for difference between MuJoCo and MJWarp support calculations - mostly
# due to float precision
@@ -38,10 +37,10 @@ def _assert_eq(a, b, name):
class SupportTest(parameterized.TestCase):
@parameterized.parameters(True, False)
def test_mul_m(self, sparse):
@parameterized.parameters(mujoco.mjtJacobian.mjJAC_SPARSE, mujoco.mjtJacobian.mjJAC_DENSE)
def test_mul_m(self, jacobian):
"""Tests mul_m."""
mjm, mjd, m, d = test_util.fixture("pendula.xml", sparse=sparse)
mjm, mjd, m, d = test_data.fixture("pendula.xml", overrides={"opt.jacobian": jacobian})
mj_res = np.zeros(mjm.nv)
mj_vec = np.random.uniform(low=-1.0, high=1.0, size=mjm.nv)
@@ -52,11 +51,11 @@ class SupportTest(parameterized.TestCase):
skip = wp.zeros((d.nworld), dtype=bool)
mjwarp.mul_m(m, d, res, vec, skip)
_assert_eq(res.numpy()[0], mj_res, f"mul_m ({'sparse' if sparse else 'dense'})")
_assert_eq(res.numpy()[0], mj_res, f"mul_m ({jacobian})")
def test_xfrc_accumulated(self):
"""Tests that xfrc_accumulate output matches mj_xfrcAccumulate."""
mjm, mjd, m, d = test_util.fixture("pendula.xml")
mjm, mjd, m, d = test_data.fixture("pendula.xml")
xfrc = np.random.randn(*d.xfrc_applied.numpy().shape)
d.xfrc_applied = wp.from_numpy(xfrc, dtype=wp.spatial_vector)
qfrc = wp.zeros((1, mjm.nv), dtype=wp.float32)
@@ -101,7 +100,7 @@ class SupportTest(parameterized.TestCase):
</keyframe>
</mujoco>
"""
mjm, mjd, m, d = test_util.fixture(xml=_CONTACT, cone=cone, keyframe=0)
mjm, mjd, m, d = test_data.fixture(xml=_CONTACT, keyframe=0, overrides={"opt.cone": cone})
mj_force = np.zeros(6, dtype=float)
mujoco.mj_contactForce(mjm, mjd, 0, mj_force)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
Vendored
+23 -13
View File
@@ -24,6 +24,10 @@ MJ_MINIMP = mujoco.mjMINIMP # minimum constraint impedance
MJ_MAXIMP = mujoco.mjMAXIMP # maximum constraint impedance
MJ_MAXCONPAIR = mujoco.mjMAXCONPAIR
MJ_MINMU = mujoco.mjMINMU # minimum friction
# maximum size (by number of edges) of an horizon in EPA algorithm
MJ_MAX_EPAHORIZON = 12
# maximum average number of trianglarfaces EPA can insert at each iteration
MJ_MAX_EPAFACES = 5
# TODO(team): add check that all wp.launch_tiled 'block_dim' settings are configurable
@@ -384,6 +388,10 @@ class SensorType(enum.IntEnum):
FRAMEZAXIS: frame z-axis
FRAMEQUAT: frame orientation, represented as quaternion
SUBTREECOM: subtree center of mass
GEOMDIST: signed distance between two geoms
GEOMNORMAL: normal direction between two geoms
GEOMFROMTO: segment between two geoms
INSIDESITE: 1 if object is inside site, 0 otherwise
E_POTENTIAL: potential energy
E_KINETIC: kinetic energy
CLOCK: simulation time
@@ -429,6 +437,10 @@ class SensorType(enum.IntEnum):
FRAMEZAXIS = mujoco.mjtSensor.mjSENS_FRAMEZAXIS
FRAMEQUAT = mujoco.mjtSensor.mjSENS_FRAMEQUAT
SUBTREECOM = mujoco.mjtSensor.mjSENS_SUBTREECOM
GEOMDIST = mujoco.mjtSensor.mjSENS_GEOMDIST
GEOMNORMAL = mujoco.mjtSensor.mjSENS_GEOMNORMAL
GEOMFROMTO = mujoco.mjtSensor.mjSENS_GEOMFROMTO
INSIDESITE = mujoco.mjtSensor.mjSENS_INSIDESITE
E_POTENTIAL = mujoco.mjtSensor.mjSENS_E_POTENTIAL
E_KINETIC = mujoco.mjtSensor.mjSENS_E_KINETIC
CLOCK = mujoco.mjtSensor.mjSENS_CLOCK
@@ -553,7 +565,7 @@ class Option:
impratio: ratio of friction-to-normal contact impedance
tolerance: main solver tolerance
ls_tolerance: CG/Newton linesearch tolerance
ccd_tolerance: convex collision solver tolerance
ccd_tolerance: convex collision detection tolerance
gravity: gravitational acceleration
magnetic: global magnetic flux
integrator: integration mode (IntegratorType)
@@ -564,8 +576,7 @@ class Option:
disableflags: bit flags for disabling standard features
enableflags: bit flags for enabling optional features
is_sparse: whether to use sparse representations
gjk_iterations: number of Gjk iterations in the convex narrowphase
epa_iterations: number of Epa iterations in the convex narrowphase
ccd_iterations: number of iterations in convex collision detection
ls_parallel: evaluate engine solver step sizes in parallel
ls_parallel_min_step: minimum step size for solver linesearch
wind: wind (for lift, drag, and viscosity)
@@ -600,8 +611,7 @@ class Option:
disableflags: int
enableflags: int
is_sparse: bool
gjk_iterations: int # warp only
epa_iterations: int # warp only
ccd_iterations: int
ls_parallel: bool # warp only
ls_parallel_min_step: float # warp only
wind: wp.array(dtype=wp.vec3)
@@ -915,7 +925,6 @@ class Model:
eq_ten_adr: eq_* addresses of type `TENDON` (<=neq,)
actuator_moment_tiles_nv: tiling configuration
actuator_moment_tiles_nu: tiling configuration
actuator_affine_bias_gain: affine bias/gain present
actuator_trntype: transmission type (TrnType) (nu,)
actuator_dyntype: dynamics type (DynType) (nu,)
actuator_gaintype: gain type (GainType) (nu,)
@@ -1007,6 +1016,7 @@ class Model:
rangefinder_sensor_adr: map sensor id to rangefinder id (<=nsensor,)
(excluding touch sensors)
(excluding limit force sensors)
collision_sensor_adr: map sensor id to collision id (nsensor,)
sensor_touch_adr: addresses for touch sensors (<=nsensor,)
sensor_limitfrc_adr: address for limit force sensors (<=nsensor,)
sensor_e_potential: evaluate energy_pos
@@ -1239,7 +1249,6 @@ class Model:
eq_ten_adr: wp.array(dtype=int)
actuator_moment_tiles_nv: tuple[TileSet, ...]
actuator_moment_tiles_nu: tuple[TileSet, ...]
actuator_affine_bias_gain: bool # warp only
actuator_trntype: wp.array(dtype=int)
actuator_dyntype: wp.array(dtype=int)
actuator_gaintype: wp.array(dtype=int)
@@ -1325,6 +1334,7 @@ class Model:
sensor_acc_adr: wp.array(dtype=int) # warp only
sensor_rangefinder_adr: wp.array(dtype=int) # warp only
rangefinder_sensor_adr: wp.array(dtype=int) # warp only
collision_sensor_adr: wp.array(dtype=int) # warp only
sensor_touch_adr: wp.array(dtype=int) # warp only
sensor_limitfrc_adr: wp.array(dtype=int) # warp only
sensor_e_potential: bool # warp only
@@ -1496,12 +1506,12 @@ class Data:
epa_vert2: vertices in EPA polytope in geom 2 space (nconmax, 5 + CCDiter)
epa_vert_index1: vertex indices in EPA polytope for geom 1 (nconmax, 5 + CCDiter)
epa_vert_index2: vertex indices in EPA polytope for geom 2 (nconmax, 5 + CCDiter)
epa_face: faces of polytope represented by three indices (nconmax, 6 + 6 * CCDiter)
epa_pr: projection of origin on polytope faces (nconmax, 6 + 6 * CCDiter)
epa_norm2: epa_pr * epa_pr (nconmax, 6 + 6 * CCDiter)
epa_index: index of face in polytope map (nconmax, 6 + 6 * CCDiter)
epa_map: status of faces in polytope (nconmax, 6 + 6 * CCDiter)
epa_horizon: index pair (i j) of edges on horizon (nconmax, 3 * 2 * CCDiter)
epa_face: faces of polytope represented by three indices (nconmax, 6 + 5 * CCDiter)
epa_pr: projection of origin on polytope faces (nconmax, 6 + 5 * CCDiter)
epa_norm2: epa_pr * epa_pr (nconmax, 6 + 5 * CCDiter)
epa_index: index of face in polytope map (nconmax, 6 + 5 * CCDiter)
epa_map: status of faces in polytope (nconmax, 6 + 5 * CCDiter)
epa_horizon: index pair (i j) of edges on horizon (nconmax, 2 * 12)
multiccd_polygon: clipped contact surface (nconmax, 2 * max_npolygon)
multiccd_clipped: clipped contact surface (intermediate) (nconmax, 2 * max_npolygon)
multiccd_pnormal: plane normal of clipping polygon (nconmax, max_npolygon)
mjx/mujoco/mjx/third_party/mujoco_warp/_src/unroll_test.py
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# Copyright 2025 The Newton Developers
#
# 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.
# ==============================================================================
"""Unrolls trajectories within a scene and check for some coarse expected final state.
These tests are meant to catch subtle numerical / physics stability regressions. MuJoCo has many
complex algorithms that interact in surprising ways. Some physics bugs only arise over long
horizons of hundreds or thousands of physics steps. These tests ought to catch some of those
regressions.
"""
import mujoco
import numpy as np
import warp as wp
from absl.testing import absltest
from absl.testing import parameterized
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp import ConeType
from mujoco.mjx.third_party.mujoco_warp import test_data
from mujoco.mjx.third_party.mujoco_warp._src.io import find_keys
from mujoco.mjx.third_party.mujoco_warp._src.io import make_trajectory
class UnrollTest(parameterized.TestCase):
@absltest.skipIf(not wp.get_device().is_cuda, "Skipping test that requires GPU.")
@parameterized.parameters(ConeType.PYRAMIDAL, ConeType.ELLIPTIC)
def test_aloha_lifts_pot(self, cone):
"""Aloha lifts a pot into the air."""
mjm, _, m, d = test_data.fixture("aloha_pot/scene.xml", keyframe="lift_pot0", overrides={"opt.cone": cone})
with wp.ScopedCapture() as capture:
mjw.step(m, d)
for ctrl in make_trajectory(mjm, find_keys(mjm, "lift_pot")):
wp.copy(d.ctrl, wp.array([ctrl.astype(np.float32)]))
wp.capture_launch(capture.graph)
# pot should be up in the air, lid should be open above it
pot = mujoco.mj_name2id(mjm, mujoco.mjtObj.mjOBJ_BODY, "partnet_100015")
lid = mujoco.mj_name2id(mjm, mujoco.mjtObj.mjOBJ_BODY, "partnet_100015/link_0")
self.assertGreater(d.xpos.numpy()[0, pot, 2], 0.069)
self.assertGreater(d.xpos.numpy()[0, lid, 2], 0.16)
if __name__ == "__main__":
wp.init()
absltest.main()
mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py
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@@ -342,7 +342,7 @@ def wrap(
length of circular wrap else -1.0 if no wrap, pair of 3D wrap points
"""
# check object type
if geomtype != int(WrapType.SPHERE.value) and geomtype != int(WrapType.CYLINDER.value):
if geomtype != WrapType.SPHERE and geomtype != WrapType.CYLINDER:
return wp.inf, wp.vec3(wp.inf), wp.vec3(wp.inf)
# map sites to wrap object's local frame
@@ -355,7 +355,7 @@ def wrap(
return -1.0, wp.vec3(wp.inf), wp.vec3(wp.inf)
# construct 2D frame for circle wrap
if geomtype == int(WrapType.SPHERE.value):
if geomtype == WrapType.SPHERE:
# 1st axis = p0
axis0, _ = math.normalize_with_norm(p0)
@@ -432,7 +432,7 @@ def wrap(
res1 = axis0 * pnt1[0] + axis1 * pnt1[1]
# cylinder: correct along z
if geomtype == int(WrapType.CYLINDER.value):
if geomtype == WrapType.CYLINDER:
# set vertical coordinates
L0 = wp.sqrt((p0[0] - res0[0]) * (p0[0] - res0[0]) + (p0[1] - res0[1]) * (p0[1] - res0[1]))
L1 = wp.sqrt((p1[0] - res1[0]) * (p1[0] - res1[0]) + (p1[1] - res1[1]) * (p1[1] - res1[1]))
@@ -611,27 +611,27 @@ def inside_geom(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, geomtype: int, point
vec = point - pos
# quick return for spheres, frame rotation not required
if geomtype == int(GeomType.SPHERE.value):
if geomtype == GeomType.SPHERE:
return wp.dot(vec, vec) < size[0] * size[0]
# rotate into local frame
plocal = wp.transpose(mat) @ vec
# handle other geom types
if geomtype == int(GeomType.CAPSULE.value):
if geomtype == GeomType.CAPSULE:
z = plocal[2]
z_clamped = wp.clamp(z, -size[1], size[1])
z_dif = z - z_clamped
z_dist_sq = z_dif * z_dif
return plocal[0] * plocal[0] + plocal[1] * plocal[1] + z_dist_sq < size[0] * size[0]
elif geomtype == int(GeomType.ELLIPSOID.value):
elif geomtype == GeomType.ELLIPSOID:
plocalsize = wp.cw_div(plocal, size)
return wp.dot(plocalsize, plocalsize) < 1.0
elif geomtype == int(GeomType.CYLINDER.value):
elif geomtype == GeomType.CYLINDER:
return (wp.abs(plocal[2]) < size[1]) and (plocal[0] * plocal[0] + plocal[1] * plocal[1] < size[0] * size[0])
elif geomtype == int(GeomType.BOX.value):
elif geomtype == GeomType.BOX:
return wp.abs(plocal[0]) < size[0] and wp.abs(plocal[1]) < size[1] and wp.abs(plocal[2]) < size[2]
elif geomtype == int(GeomType.PLANE.value):
elif geomtype == GeomType.PLANE:
return plocal[2] < 0.0
return False
mjx/mujoco/mjx/third_party/mujoco_warp/test_data/__init__.py
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# Copyright 2025 The Newton Developers
#
# 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.
# ==============================================================================
"""Test fixtures for MJWarp."""
from typing import Any, Optional, Sequence, Tuple, Union
import mujoco
import numpy as np
from etils import epath
import mujoco_warp as mjw
from mujoco.mjx.third_party.mujoco_warp._src.io import override_model
def fixture(
path: Optional[str] = None,
xml: Optional[str] = None,
keyframe: Optional[Union[int, str]] = None,
qpos_noise: Optional[float] = None,
qvel_noise: Optional[float] = None,
ctrl_noise: Optional[float] = None,
qfrc_noise: Optional[float] = None,
xfrc_noise: Optional[float] = None,
mocap_noise: Optional[float] = None,
overrides: Union[dict[str, Any], Sequence[str]] = tuple(),
) -> Tuple[mujoco.MjModel, mujoco.MjData, mjw.Model, mjw.Data]:
"""Loads MuJoCo MjModel / MjData and corresponding mjw.Model / mjw.Data.
Args:
path: path to the XML file to load, relative to the `test_data` root.
xml: XML string to load (instead of fname).
keyframe: if provided, the data will be reset to the specified keyframe.
qpos_noise: initialize `qpos` with uniform noise with this magnitude.
qvel_noise: initialize `qvel` with uniform noise with this magnitude.
ctrl_noise: initialize `ctrl` with uniform noise with this magnitude.
qfrc_noise: initialize `qfrc_applied` with uniform noise with this magnitude.
xfrc_noise: initialize `xfrc_applied` with uniform noise with this magnitude.
mocap_noise: initialize `mocap_pos` and `mocap_quat` will be initialized with uniform noise.
overrides: a dict (or sequence of "foo=bar" strings) of model fields to override.
Returns:
Tuple containing:
mujoco.MjModel
mujoco.MjData
mjw.Model
mjw.Data
"""
np.random.seed(42) # reduce test flakiness
if path is not None:
path = epath.resource_path("mjx") / "third_party/mujoco_warp" / "test_data" / path
mjm = mujoco.MjModel.from_xml_path(path.as_posix())
elif xml is not None:
mjm = mujoco.MjModel.from_xml_string(xml)
else:
raise ValueError("either fname or xml must be provided")
override_model(mjm, overrides)
mjd = mujoco.MjData(mjm)
if keyframe is not None:
if isinstance(keyframe, str):
keyframe = mujoco.mj_name2id(mjm, mujoco.mjtObj.mjOBJ_KEY, keyframe)
mujoco.mj_resetDataKeyframe(mjm, mjd, keyframe)
else:
mujoco.mj_resetData(mjm, mjd)
if qpos_noise:
mjd.qpos[:] = np.random.uniform(-qpos_noise, qpos_noise, mjm.nq)
if qvel_noise:
mjd.qvel[:] = np.random.uniform(-qvel_noise, qvel_noise, mjm.nv)
if ctrl_noise:
mjd.ctrl[:] = np.random.uniform(-ctrl_noise, ctrl_noise, size=mjm.nu)
if qfrc_noise:
mjd.qfrc_applied[:] = np.random.uniform(-qfrc_noise, qfrc_noise, size=mjm.nv)
if xfrc_noise:
mjd.xfrc_applied[:] = np.random.uniform(-xfrc_noise, xfrc_noise, size=(mjm.nbody, 6))
if mocap_noise:
mjd.mocap_pos[:] = np.random.uniform(-mocap_noise, mocap_noise, size=(mjm.nmocap, 3))
mjd.mocap_quat[:] = np.random.uniform(-mocap_noise, mocap_noise, size=(mjm.nmocap, 4))
if qpos_noise or qvel_noise or ctrl_noise or qfrc_noise or xfrc_noise:
mujoco.mj_step(mjm, mjd, 10) # let dynamics get state significantly non-zero, non-identity rotations etc
mujoco.mj_forward(mjm, mjd)
mjd.qacc_warmstart = mjd.qacc
m = mjw.put_model(mjm)
override_model(m, overrides)
d = mjw.put_data(mjm, mjd)
return mjm, mjd, m, d
mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/angled_extrusion-2b8426c7d466d59b03a7f048c5304d28205b3069.stl
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-10_col_collision_1-e1c239941aa3757c1a8c08c0e7ac9ce503ec8d05.obj
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# https://github.com/mikedh/trimesh
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v -0.14771167 0.47517862 0.01578659
v -0.17055195 0.47174359 0.03883884
v -0.17055195 0.47174359 0.01315716
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v -0.17516229 0.47698061 0.01900000
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v -0.16982468 0.47761412 0.01401555
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v -0.17243581 0.33458170 0.01487395
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v -0.15964603 0.47840249 0.03800917
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# https://github.com/mikedh/trimesh
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-13_col_collision_1-88e56b18a79a8daec67f71cf3dfb02c50659863c.obj
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-13_col_collision_7-d3a6f38e04f915c4ac7c0a5134a0b680881190b8.obj
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-14_col_collision_7-403fcdc88dfbd4473e87852461b45193c22f7a5d.obj
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_10-225221cb64e522621919eddad8b1cbb56367ee40.obj
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_11-e3ef67903a31437ad5b27e2f0fca54596d68a026.obj
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_13-cbc5cc87f26f9079dec574f7683dfd9e950cd10e.obj
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_14-8e8dfdca17412c2cacd2d3558f53110d9f9df0f2.obj
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_17-df37344b83d744900ac4fc2ca3397c2da1dba5cc.obj
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# https://github.com/mikedh/trimesh
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# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_6-12a5679233100eec0a3295abb54b1b7b9b4b0839.obj
Vendored
+225
View File
@@ -0,0 +1,225 @@
# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_7-2374e4da93bd05a4065813d1d2efe3cd2102dfe7.obj
Vendored
+300
View File
@@ -0,0 +1,300 @@
# https://github.com/mikedh/trimesh
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mjx/mujoco/mjx/third_party/mujoco_warp/test_data/aloha_pot/original-21_col_collision_9-6edf8358c6c7f7dd89929ae63b66ef778bd8746c.obj
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# https://github.com/mikedh/trimesh
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# https://github.com/mikedh/trimesh
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