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[Migration] Rigid init and forward kinematics #1401

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Merged
duburcqa merged 5 commits into from
Jul 13, 2025
Merged

[Migration] Rigid init and forward kinematics #1401

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e28d8c3
migrate init functions till equality fields
YilingQiao Jul 11, 2025
1454f79
init weight
YilingQiao Jul 11, 2025
88c2b21
forward kinematics
YilingQiao Jul 11, 2025
0b8f4dd
remove test fiel
YilingQiao Jul 11, 2025
7c708ba
forward kinematics in rigid entity
YilingQiao Jul 12, 2025
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71 changes: 65 additions & 6 deletions genesis/engine/entities/rigid_entity/rigid_entity.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1300,8 +1300,19 @@ def _kernel_inverse_kinematics(
for i_sample in range(max_samples):
for _ in range(max_solver_iters):
# run FK to update link states using current q
self._solver._func_forward_kinematics_entity(self._idx_in_solver, i_b)

self._solver._func_forward_kinematics_entity(
self._idx_in_solver,
i_b,
self._solver.links_state,
self._solver.links_info,
self._solver.joints_state,
self._solver.joints_info,
self._solver.dofs_state,
self._solver.dofs_info,
self._solver.entities_info,
self._solver._rigid_global_info,
self._solver._static_rigid_sim_config,
)
# compute error
solved = True
for i_ee in range(n_links):
Expand Down Expand Up @@ -1386,7 +1397,19 @@ def _kernel_inverse_kinematics(

if not solved:
# re-compute final error if exited not due to solved
self._solver._func_forward_kinematics_entity(self._idx_in_solver, i_b)
self._solver._func_forward_kinematics_entity(
self._idx_in_solver,
i_b,
self._solver.links_state,
self._solver.links_info,
self._solver.joints_state,
self._solver.joints_info,
self._solver.dofs_state,
self._solver.dofs_info,
self._solver.entities_info,
self._solver._rigid_global_info,
self._solver._static_rigid_sim_config,
)
solved = True
for i_ee in range(n_links):
i_l_ee = links_idx[i_ee]
Expand Down Expand Up @@ -1480,7 +1503,19 @@ def _kernel_inverse_kinematics(
# restore original qpos and link state
for i_q in range(self.n_qs):
self._solver.qpos[i_q + self._q_start, i_b] = self._IK_qpos_orig[i_q, i_b]
self._solver._func_forward_kinematics_entity(self._idx_in_solver, i_b)
self._solver._func_forward_kinematics_entity(
self._idx_in_solver,
i_b,
self._solver.links_state,
self._solver.links_info,
self._solver.joints_state,
self._solver.joints_info,
self._solver.dofs_state,
self._solver.dofs_info,
self._solver.entities_info,
self._solver._rigid_global_info,
self._solver._static_rigid_sim_config,
)

@gs.assert_built
def forward_kinematics(self, qpos, qs_idx_local=None, links_idx_local=None, envs_idx=None):
Expand Down Expand Up @@ -1549,7 +1584,19 @@ def _kernel_forward_kinematics(
# set new qpos
self._solver.qpos[qs_idx[i_q_], envs_idx[i_b_]] = qpos[i_b_, i_q_]
# run FK
self._solver._func_forward_kinematics_entity(self._idx_in_solver, envs_idx[i_b_])
self._solver._func_forward_kinematics_entity(
self._idx_in_solver,
envs_idx[i_b_],
self._solver.links_state,
self._solver.links_info,
self._solver.joints_state,
self._solver.joints_info,
self._solver.dofs_state,
self._solver.dofs_info,
self._solver.entities_info,
self._solver._rigid_global_info,
self._solver._static_rigid_sim_config,
)

ti.loop_config(serialize=self._solver._para_level < gs.PARA_LEVEL.PARTIAL)
for i_l_, i_b_ in ti.ndrange(links_idx.shape[0], envs_idx.shape[0]):
Expand All @@ -1563,7 +1610,19 @@ def _kernel_forward_kinematics(
# restore original qpos
self._solver.qpos[qs_idx[i_q_], envs_idx[i_b_]] = self._IK_qpos_orig[qs_idx[i_q_], envs_idx[i_b_]]
# run FK
self._solver._func_forward_kinematics_entity(self._idx_in_solver, envs_idx[i_b_])
self._solver._func_forward_kinematics_entity(
self._idx_in_solver,
envs_idx[i_b_],
self._solver.links_state,
self._solver.links_info,
self._solver.joints_state,
self._solver.joints_info,
self._solver.dofs_state,
self._solver.dofs_info,
self._solver.entities_info,
self._solver._rigid_global_info,
self._solver._static_rigid_sim_config,
)

# ------------------------------------------------------------------------------------
# --------------------------------- motion planing -----------------------------------
Expand Down
26 changes: 24 additions & 2 deletions genesis/engine/solvers/avatar_solver.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,8 +58,30 @@ def _kernel_step(self):
@ti.kernel
def _kernel_forward_kinematics_links_geoms(self, envs_idx: ti.types.ndarray()):
for i_b in envs_idx:
self._func_forward_kinematics(i_b)
self._func_update_geoms(i_b)
self._func_forward_kinematics(
i_b,
self.links_state,
self.links_info,
self.joints_state,
self.joints_info,
self.dofs_state,
self.dofs_info,
self.entities_info,
self._rigid_global_info,
self._static_rigid_sim_config,
)
self._func_update_geoms(
i_b,
self.links_state,
self.links_info,
self.joints_state,
self.joints_info,
self.dofs_state,
self.dofs_info,
self.entities_info,
self._rigid_global_info,
self._static_rigid_sim_config,
)

@ti.func
def _func_detect_collision(self):
Expand Down
19 changes: 17 additions & 2 deletions genesis/engine/solvers/rigid/array_class.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,19 +11,34 @@
DofsInfo = ti.template()
GeomsState = ti.template()
GeomsInfo = ti.template()
GeomsInitAABB = ti.template()
GeomsInitAABB = ti.template() # TODO: move to rigid global info
LinksState = ti.template()
LinksInfo = ti.template()
JointsInfo = ti.template()
JointsState = ti.template()
VertsState = ti.template()
VertsInfo = ti.template()
EdgesInfo = ti.template()
FacesInfo = ti.template()
VVertsInfo = ti.template()
VFacesInfo = ti.template()
VGeomsInfo = ti.template()
EntitiesState = ti.template()
EntitiesInfo = ti.template()
EqualitiesInfo = ti.template()


@ti.data_oriented
class RigidGlobalInfo:
def __init__(self, n_dofs: int, n_entities: int, n_geoms: int, _B: int, f_batch: Callable):
def __init__(self, solver, n_dofs: int, n_entities: int, n_geoms: int, _B: int, f_batch: Callable):
self.n_awake_dofs = ti.field(dtype=gs.ti_int, shape=f_batch())
self.awake_dofs = ti.field(dtype=gs.ti_int, shape=f_batch(n_dofs))

self.qpos0 = ti.field(dtype=gs.ti_float, shape=solver._batch_shape(solver.n_qs_))
self.qpos = ti.field(dtype=gs.ti_float, shape=solver._batch_shape(solver.n_qs_))

# self.links_T = ti.Matrix.field(n=4, m=4, dtype=gs.ti_float, shape=solver.n_links)


# =========================================== Collider ===========================================

Expand Down
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