Comments (3)
rpapallas
commented on June 7, 2024
Sorry, it was an error on my part, I managed to figure this out.
Still curious to know why there is flexvert_xpos when you can get the flex vertex xpos from xpos through flex_vertbodyid.
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dblanm
commented on June 7, 2024
Sorry, it was an error on my part, I managed to figure this out.
Still curious to know why there is
flexvert_xposwhen you can get the flex vertex xpos fromxposthroughflex_vertbodyid.
Hey! Would you mind sharing how you solved this?
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rpapallas
commented on June 7, 2024
@dblanm
It appears that my assumption is correct: the flex_vertbodyid maps a flex vertex to a mujoco body.
Here is a demonstration code:
Getting the flex id from name:
int getFlexId(std::string flexName) {
return mj_name2id(m, mjOBJ_FLEX, flexName.c_str());
}Getting and setting all positions of the flex vertices:
std::vector<std::tuple<float, float, float>> getFlexPositions(std::string flexName) {
std::vector<std::tuple<float, float, float>> positions;
int flexId = getFlexId(flexName);
int firstVertadr = m->flex_vertadr[flexId];
int numVertices = m->flex_vertnum[flexId];
for(int i=0; i < numVertices; i++) {
int bodyId = m->flex_vertbodyid[firstVertadr + i];
float x = d->xpos[(bodyId * 3) + 0];
float y = d->xpos[(bodyId * 3) + 1];
float z = d->xpos[(bodyId * 3) + 2];
/* // or the same with:
x = d->flexvert_xpos[firstVertadr + i * 3 + 0];
y = d->flexvert_xpos[firstVertadr + i * 3 + 1];
z = d->flexvert_xpos[firstVertadr + i * 3 + 2];
*/
positions.push_back(std::make_tuple(x, y, z));
}
return positions;
}
void setFlexPositions(std::string flexName, std::vector<std::tuple<float, float, float>> positions) {
int flexId = getFlexId(flexName);
int firstVertadr = m->flex_vertadr[flexId];
int numVertices = m->flex_vertnum[flexId];
for(int i=0; i < numVertices; i++) {
int bodyId = m->flex_vertbodyid[firstVertadr + i];
const int jointIndex = m->body_jntadr[bodyId];
const int qposIndex = m->jnt_qposadr[jointIndex];
float x = std::get<0>(positions[i]);
float y = std::get<1>(positions[i]);
float z = std::get<2>(positions[i]);
d->qpos[qposIndex + 0] = x;
d->qpos[qposIndex + 1] = y;
d->qpos[qposIndex + 2] = z;
}
}Getting and setting the flex vertex velocities:
std::vector<std::tuple<float, float, float>> getFlexVelocities(std::string flexName) {
std::vector<std::tuple<float, float, float>> velocities;
int flexId = getFlexId(flexName);
int firstVertadr = m->flex_vertadr[flexId];
int numVertices = m->flex_vertnum[flexId];
for(int i=0; i < numVertices; i++) {
int bodyId = m->flex_vertbodyid[firstVertadr + i];
const int jointIndex = m->body_jntadr[bodyId];
const int start = m->jnt_dofadr[jointIndex];
double linearX = d->qvel[start + 0];
double linearY = d->qvel[start + 1];
double linearZ = d->qvel[start + 2];
velocities.push_back(std::make_tuple(linearX, linearY, linearZ));
}
return velocities;
}
void setFlexVelocities(std::string flexName, std::vector<std::tuple<float, float, float>> velocities) {
int flexId = getFlexId(flexName);
int firstVertadr = m->flex_vertadr[flexId];
int numVertices = m->flex_vertnum[flexId];
for(int i=0; i < numVertices; i++) {
int bodyId = m->flex_vertbodyid[firstVertadr + i];
const int jointIndex = m->body_jntadr[bodyId];
const int start = m->jnt_dofadr[jointIndex];
float x = std::get<0>(velocities[i]);
float y = std::get<1>(velocities[i]);
float z = std::get<2>(velocities[i]);
d->qvel[start + 0] = x;
d->qvel[start + 1] = y;
d->qvel[start + 2] = z;
}
}from mujoco.
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