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Add action_scale calculation and fix action_scale for R2 humanoid robot #1

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Add action_scale calculation and fix action_scale for R2 humanoid robot #1

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103 changes: 66 additions & 37 deletions robotlib/trackerLab/assets/humanoids/r2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,28 +6,28 @@
from robotlib import ROBOTLIB_USD_DIR, ROBOTLIB_ASSETLIB_DIR

JOINT_NAMES = [
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_pitch_joint",
"right_ankle_roll_joint",
"waist_yaw_joint",
"waist_pitch_joint",
"left_shoulder_pitch_joint",
"left_shoulder_roll_joint",
"left_shoulder_yaw_joint",
"left_arm_pitch_joint",
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_arm_pitch_joint",
"left_hip_pitch_joint", #<limit lower="-2.530727415" upper="2.879793266" effort="130" velocity="14.658" />
"left_hip_roll_joint", #<limit lower="-0.2618" upper="2.4435" effort="130" velocity="14.658" />
"left_hip_yaw_joint", #<limit lower="-2.7576" upper="2.7576" effort="90" velocity="16.438" />
"left_knee_joint", #<limit lower="-0.401425728" upper="2.42600766" effort="150" velocity="14.658" />
"left_ankle_pitch_joint", #<limit lower="-0.69813" upper="0.5236" effort="75" velocity="12.25" />
"left_ankle_roll_joint", #<limit lower="-0.2618" upper="0.2618" effort="75" velocity="12.25" />
"right_hip_pitch_joint", # <limit lower="-2.530727415" upper="2.879793266" effort="130" velocity="14.658" />
"right_hip_roll_joint", # <limit lower="-2.4435" upper="0.2618" effort="130" velocity="14.658" />
"right_hip_yaw_joint", # <limit lower="-2.7576" upper="2.7576" effort="90" velocity="16.438" />
"right_knee_joint", # <limit lower="-0.401425728" upper="2.42600766" effort="150" velocity="14.658" />
"right_ankle_pitch_joint", # <limit lower="-0.69813" upper="0.5236" effort="75" velocity="12.25" />
"right_ankle_roll_joint", # <limit lower="-0.2618" upper="0.2618" effort="75" velocity="12.25" />
"waist_yaw_joint", # <limit lower="-0.5236" upper="0.5236" effort="90" velocity="16.438" />
"waist_pitch_joint", # <limit lower="-0.5236" upper="0.5236" effort="90" velocity="16.438" />
"left_shoulder_pitch_joint", # <limit lower="-3.0892" upper="2.6704" effort="36" velocity="17.904" />
"left_shoulder_roll_joint", # <limit lower="-0.5236" upper="2.2427" effort="36" velocity="17.904" />
"left_shoulder_yaw_joint", # <limit lower="-2.618" upper="2.618" effort="36" velocity="17.904" />
"left_arm_pitch_joint", # <limit lower="-1.0472" upper="2.0944" effort="36" velocity="17.904" />
"right_shoulder_pitch_joint", # <limit lower="-3.0892" upper="2.6704" effort="36" velocity="17.904" />
"right_shoulder_roll_joint", # <limit lower="-2.2427" upper="0.5236" effort="36" velocity="17.904" />
"right_shoulder_yaw_joint", # <limit lower="-2.618" upper="2.618" effort="36" velocity="17.904" />
"right_arm_pitch_joint", # <limit lower="-1.0472" upper="2.0944" effort="36" velocity="17.904" />
]

INIT_POS={
Expand Down Expand Up @@ -146,14 +146,42 @@
"right_arm_pitch_joint": 36.0,
}

R2_ACTION_SCALE={
# left leg
"left_hip_pitch_joint": 2.879793266,
"left_hip_roll_joint": 2.4435,
"left_hip_yaw_joint": 2.7576,
"left_knee_joint": 2.42600766,
"left_ankle_pitch_joint": 0.69813,
"left_ankle_roll_joint": 0.2618,
# right leg
"right_hip_pitch_joint": 2.879793266,
"right_hip_roll_joint": 2.4435,
"right_hip_yaw_joint": 2.7576,
"right_knee_joint": 2.42600766,
"right_ankle_pitch_joint": 0.69813,
"right_ankle_roll_joint": 0.2618,
# waist
"waist_yaw_joint": 0.5236,
"waist_pitch_joint": 0.5236,
# arms
"left_shoulder_pitch_joint": 3.0892,
"left_shoulder_roll_joint": 2.2427,
"left_shoulder_yaw_joint": 2.618,
"left_arm_pitch_joint": 2.0944,
"right_shoulder_pitch_joint": 3.0892,
"right_shoulder_roll_joint": 2.2427,
"right_shoulder_yaw_joint": 2.618,
"right_arm_pitch_joint": 2.0944,
}

##
# Configuration
##


R2_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ROBOTLIB_ASSETLIB_DIR}/third_party/r2_wholebody/usd/r2_wb.usd",
usd_path=f"{ROBOTLIB_ASSETLIB_DIR}/thrid_party/r2_wholebody/usd/r2_wb.usd",
activate_contact_sensors=True,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
Expand All @@ -179,7 +207,8 @@
soft_joint_pos_limit_factor=1.0,
actuators={
"actuators": ImplicitActuatorCfg(
joint_names_expr=[".*"],
# joint_names_expr=[".*"],
joint_names_expr=list(EFFORT_REAL.keys()),
stiffness=STIFFNESS_REAL,
damping=DAMPING_REAL,
effort_limit=EFFORT_REAL,
Expand All @@ -189,15 +218,15 @@

"""Configuration for the R2 Humanoid Robot."""

R2_ACTION_SCALE = {}
for a in R2_CFG.actuators.values():
e = a.effort_limit_sim
s = a.stiffness
names = a.joint_names_expr
if not isinstance(e, dict):
e = {n: e for n in names}
if not isinstance(s, dict):
s = {n: s for n in names}
for n in names:
if n in e and n in s and s[n]:
R2_ACTION_SCALE[n] = 0.25 * e[n] / s[n]
# R2_ACTION_SCALE = {}
# for a in R2_CFG.actuators.values():
# e = a.effort_limit
# s = a.stiffness
# names = a.joint_names_expr
# if not isinstance(e, dict):
# e = {n: e for n in names}
# if not isinstance(s, dict):
# s = {n: s for n in names}
# for n in names:
# if n in e and n in s and s[n]:
# R2_ACTION_SCALE[n] = 0.25 * e[n] / s[n]