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Capsule-box collision #135

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Merged
merged 19 commits into from
Apr 28, 2025
Merged

Capsule-box collision #135

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00823df
Capsule-box collision
camevor Apr 9, 2025
3948e0f
Add capsule-box test
camevor Apr 9, 2025
a624aa7
Ruff format
camevor Apr 9, 2025
d595342
Change capsule-box test to break symmetry
camevor Apr 10, 2025
6b55d79
Merge branch 'sphere-box' into capsule-box
camevor Apr 11, 2025
bef7dc2
Re-add capsule-box tests
camevor Apr 11, 2025
84fe78a
Remove redundant MINVAL constant
camevor Apr 11, 2025
ff6d8da
Merge branch 'main' into capsule-box
camevor Apr 14, 2025
25096f0
Merge branch 'sphere-box' into capsule-box
camevor Apr 16, 2025
1a22baf
Merge branch 'capsule-box' of github.com:camevor/mujoco_warp into cap…
camevor Apr 16, 2025
8704d32
Merge branch 'google-deepmind:main' into capsule-box
camevor Apr 17, 2025
10b362f
Merge remote-tracking branch 'origin/main' into capsule-box
camevor Apr 18, 2025
eb4199a
Merge branch 'main' into capsule-box
camevor Apr 24, 2025
dac4be3
Fix lost collision() call
camevor Apr 23, 2025
163d806
Merge branch 'google-deepmind:main' into capsule-box
camevor Apr 24, 2025
af225f2
Clean up comments
camevor Apr 24, 2025
9a449f4
Add more capsule<>box tests
camevor Apr 24, 2025
709c5f7
Add strict contact count check
camevor Apr 24, 2025
508a134
Merge branch 'google-deepmind:main' into capsule-box
camevor Apr 24, 2025
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22 changes: 22 additions & 0 deletions mujoco_warp/_src/collision_driver_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -224,6 +224,28 @@ class CollisionTest(parameterized.TestCase):
</worldbody>
</mujoco>
""",
"capsule_box_cap": """
<mujoco>
<worldbody>
<geom type="box" pos="0 0 0" size=".5 .4 .9" />
<body pos="0 0 1.5" >
<geom type="capsule" size="0.5 0.8"/>
<freejoint/>
</body>
</worldbody>
</mujoco>
""",
"capsule_box_edge": """
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Capsule box is complicated! Is this also testing capsule on box corner? If not, let's add it. Generally speaking, please add a few more fixtures to fully exercise that kernel logic which is pretty complex.

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@camevor camevor Apr 24, 2025 •
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Agreed! I added a two more fixtures (capsule on corner and capsule flat on face -> requires 2 contacts) and more strict contact checking in the test.

<mujoco>
<worldbody>
<geom type="box" pos="0 0 0" size=".5 .4 .9" />
<body pos="0.4 0.2 0.8" euler="0 -40 0" >
<geom type="capsule" size="0.5 0.8"/>
<freejoint/>
</body>
</worldbody>
</mujoco>
""",
}

@parameterized.parameters(_FIXTURES.keys())
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