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fix set_friction_ratio; add domain randomization example #220

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101 changes: 101 additions & 0 deletions examples/rigid/domain_randomization.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,101 @@
import argparse

import numpy as np
import torch

import genesis as gs


def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", default=False)
args = parser.parse_args()

########################## init ##########################
gs.init(seed=0, precision="32", logging_level="debug")

########################## create a scene ##########################
scene = gs.Scene(
viewer_options=gs.options.ViewerOptions(
camera_pos=(0.0, -2, 1.5),
camera_lookat=(0.0, 0.0, 0.5),
camera_fov=40,
max_FPS=200,
),
show_viewer=args.vis,
rigid_options=gs.options.RigidOptions(
dt=0.01,
constraint_solver=gs.constraint_solver.Newton,
),
)

########################## entities ##########################
scene.add_entity(
gs.morphs.Plane(),
)
robot = scene.add_entity(
gs.morphs.URDF(
file="urdf/go2/urdf/go2.urdf",
pos=(0, 0, 0.4),
),
)
########################## build ##########################
n_envs = 8
scene.build(n_envs=n_envs)

########################## domain randomization ##########################
robot.set_friction_ratio(
friction_ratio=0.5 + torch.rand(scene.n_envs, robot.n_links),
link_indices=np.arange(0, robot.n_links),
)
robot.set_mass_shift(
mass_shift=-0.5 + torch.rand(scene.n_envs, robot.n_links),
link_indices=np.arange(0, robot.n_links),
)
robot.set_COM_shift(
com_shift=-0.05 + 0.1 * torch.rand(scene.n_envs, robot.n_links, 3),
link_indices=np.arange(0, robot.n_links),
)

joint_names = [
"FR_hip_joint",
"FR_thigh_joint",
"FR_calf_joint",
"FL_hip_joint",
"FL_thigh_joint",
"FL_calf_joint",
"RR_hip_joint",
"RR_thigh_joint",
"RR_calf_joint",
"RL_hip_joint",
"RL_thigh_joint",
"RL_calf_joint",
]
motor_dofs = [robot.get_joint(name).dof_idx_local for name in joint_names]

robot.set_dofs_kp(np.full(12, 20), motor_dofs)
robot.set_dofs_kv(np.full(12, 1), motor_dofs)
default_dof_pos = np.array(
[
0.0,
0.8,
-1.5,
0.0,
0.8,
-1.5,
0.0,
1.0,
-1.5,
0.0,
1.0,
-1.5,
]
)
robot.control_dofs_position(default_dof_pos, motor_dofs)

for i in range(1000):
scene.step()


if __name__ == "__main__":
main()
40 changes: 37 additions & 3 deletions genesis/engine/entities/rigid_entity/rigid_entity.py
Original file line number Diff line number Diff line change
Expand Up @@ -2182,6 +2182,10 @@ def set_friction_ratio(self, friction_ratio, link_indices, envs_idx=None):
envs_idx : None | array_like, optional
The indices of the environments. If None, all environments will be considered. Defaults to None.
"""
geom_indices = []
for i in link_indices:
for j in range(self._links[i].n_geoms):
geom_indices.append(self._links[i]._geom_start + j)
self._solver.set_geoms_friction_ratio(
torch.cat(
[
Expand All @@ -2190,9 +2194,7 @@ def set_friction_ratio(self, friction_ratio, link_indices, envs_idx=None):
],
dim=-1,
),
torch.tensor(
[[self._links[j]._geom_start + i for i in range(self._links[j].n_geoms)] for j in link_indices]
).view(-1),
geom_indices,
envs_idx,
)

Expand All @@ -2217,6 +2219,38 @@ def set_friction(self, friction):
for link in self._links:
link.set_friction(friction)

def set_mass_shift(self, mass_shift, link_indices, envs_idx=None):
"""
Set the mass shift of specified links.
Parameters
----------
mass : torch.Tensor, shape (n_envs, n_links)
The mass shift
link_indices : array_like
The indices of the links to set mass shift.
envs_idx : None | array_like, optional
The indices of the environments. If None, all environments will be considered. Defaults to None.
"""
for i in range(len(link_indices)):
link_indices[i] += self._link_start
self._solver.set_links_mass_shift(mass_shift, link_indices, envs_idx)

def set_COM_shift(self, com_shift, link_indices, envs_idx=None):
"""
Set the center of mass (COM) shift of specified links.
Parameters
----------
com : torch.Tensor, shape (n_envs, n_links, 3)
The COM shift
link_indices : array_like
The indices of the links to set COM shift.
envs_idx : None | array_like, optional
The indices of the environments. If None, all environments will be considered. Defaults to None.
"""
for i in range(len(link_indices)):
link_indices[i] += self._link_start
self._solver.set_links_COM_shift(com_shift, link_indices, envs_idx)

@gs.assert_built
def get_mass(self):
"""
Expand Down