Baruch Tabanpour
22cd96fbbc
PiperOrigin-RevId: 613450874 Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
68 lines
1.7 KiB
Python
68 lines
1.7 KiB
Python
# Copyright 2023 DeepMind Technologies Limited
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
# ==============================================================================
|
|
"""Collision base."""
|
|
|
|
import dataclasses
|
|
from typing import Dict, List, Optional, Tuple
|
|
|
|
import jax
|
|
# pylint: disable=g-importing-member
|
|
from mujoco.mjx._src.dataclasses import PyTreeNode
|
|
from mujoco.mjx._src.types import GeomType
|
|
# pylint: enable=g-importing-member
|
|
|
|
Contact = Tuple[jax.Array, jax.Array, jax.Array]
|
|
|
|
|
|
@dataclasses.dataclass
|
|
class Candidate:
|
|
geom1: int
|
|
geom2: int
|
|
ipair: int
|
|
geomp: int # priority geom
|
|
dim: int
|
|
|
|
|
|
CandidateSet = Dict[
|
|
Tuple[GeomType, GeomType, Tuple[int, ...], Tuple[int, ...]],
|
|
List[Candidate],
|
|
]
|
|
|
|
|
|
class GeomInfo(PyTreeNode):
|
|
"""Collision info for a geom."""
|
|
|
|
geom_id: jax.Array
|
|
pos: jax.Array
|
|
mat: jax.Array
|
|
size: jax.Array
|
|
face: Optional[jax.Array] = None
|
|
vert: Optional[jax.Array] = None
|
|
edge: Optional[jax.Array] = None
|
|
facenorm: Optional[jax.Array] = None
|
|
face_edge: Optional[jax.Array] = None
|
|
face_edge_normal: Optional[jax.Array] = None
|
|
|
|
|
|
class SolverParams(PyTreeNode):
|
|
"""Contact solver params."""
|
|
|
|
friction: jax.Array
|
|
solref: jax.Array
|
|
solreffriction: jax.Array
|
|
solimp: jax.Array
|
|
margin: jax.Array
|
|
gap: jax.Array
|