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v0.1.3

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wty-yy
2025-11-28 22:08:32 +08:00
parent 4cc0687114
commit c58ac0ab89
39 changed files with 406 additions and 114 deletions
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3
robogauge/tasks/simulator/mujoco_config.py
View File

@@ -13,7 +13,7 @@ class MujocoConfig(Config):
simulator_class = 'MujocoSimulator'
class physics:
simulation_dt = 0.005 # 200 Hz
simulation_dt = 0.002 # 500 Hz
class viewer:
headless = False
@@ -21,5 +21,6 @@ class MujocoConfig(Config):
class render:
save_video = False
video_fps = 30
height = 480
width = 640

121
robogauge/tasks/simulator/mujoco_simulator.py
View File

@@ -5,7 +5,7 @@
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : None
@Desc : Mujoco Simulator for Robogauge
'''
import mujoco
import mujoco.viewer
@@ -15,11 +15,15 @@ import re
import time
import imageio
import numpy as np
from typing import Literal
from robogauge.utils.logger import logger
from robogauge.utils.helpers import pares_path
from robogauge.utils.helpers import parse_path
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
from robogauge.tasks.simulator.sim_data import RobotProprioception, JointState, BaseState, IMUState
from robogauge.tasks.simulator.sim_data import (
SimData,
RobotProprioception, JointState, BaseState, IMUState
)
class MujocoSimulator:
def __init__(self, sim_cfg: MujocoConfig):
@@ -28,12 +32,14 @@ class MujocoSimulator:
self.robot_xml = None
self.terrain_spawn_xy = None
self.robot_spawn_height = None
self.default_dof_pos = None
self.viewer = None
self.renderer = None
self.vid_writer = None
self.vid_count = 0
self._pause = True
self.n_step = 0
self.sim_time = 0.0
def load(
self,
@@ -41,16 +47,19 @@ class MujocoSimulator:
robot_xml: str = None,
terrain_spawn_xy: list = None,
robot_spawn_height: float = None,
default_dof_pos: list = None,
):
""" Load terrain and robot into the simulator, support re-loading. """
if terrain_xml is not None:
self.terrain_xml = pares_path(terrain_xml)
self.terrain_xml = parse_path(terrain_xml)
if robot_xml is not None:
self.robot_xml = pares_path(robot_xml)
self.robot_xml = parse_path(robot_xml)
if terrain_spawn_xy is not None:
self.terrain_spawn_xy = terrain_spawn_xy
if robot_spawn_height is not None:
self.robot_spawn_height = robot_spawn_height
if default_dof_pos is not None:
self.default_dof_pos = default_dof_pos
terrain_xml = self.terrain_xml
robot_xml = self.robot_xml
@@ -58,6 +67,8 @@ class MujocoSimulator:
robot_spawn_height = self.robot_spawn_height
if terrain_xml is None or robot_xml is None:
raise ValueError("Terrain and robot XML paths must be provided.")
if default_dof_pos is None:
raise ValueError("Default DOF positions must be provided.")
robot_mjcf = mjcf.from_path(robot_xml)
terrain_mjcf = mjcf.from_path(terrain_xml)
@@ -74,6 +85,10 @@ class MujocoSimulator:
self.mj_model = self.mj_physics.model.ptr
self.mj_data = self.mj_physics.data.ptr
self.mj_model.opt.timestep = self.cfg.physics.simulation_dt
self.sim_dt = self.cfg.physics.simulation_dt
self.mj_data.qpos[7:] = default_dof_pos
mujoco.mj_forward(self.mj_model, self.mj_data)
self.headless = self.cfg.viewer.headless
if self.cfg.render.save_video and self.headless:
logger.warning("Cannot save video in headless mode, disabling video saving.")
@@ -94,23 +109,33 @@ class MujocoSimulator:
vid_path = str(vid_dir / f"sim_video_{self.vid_count:03d}.mp4")
self.vid_writer = imageio.get_writer(
vid_path,
fps=int(1 / self.cfg.physics.simulation_dt),
fps=self.cfg.render.video_fps,
)
self.vid_frame_skip = int(1 / (self.cfg.render.video_fps * self.sim_dt * 2))
logger.info(f"Saving simulation video to: {vid_path}")
self.vid_count += 1
self._pause = False
self.n_step = 0
self.sim_time = 0.0
self.preload_sensors()
# Robot controller placeholders
self.action = None
self.p_gains = None
self.d_gains = None
self.control_type = None
def key_callback(self, keycode):
if keycode == 32:
self._pause = not self._pause
logger.info(f"Pause toggled: {self._pause}")
def step(self) -> dict:
def step(self) -> SimData:
""" Simulation step, pause will block thread. """
while self._pause:
time.sleep(0.1)
self.update_torque()
self.mj_physics.step()
if self.viewer is not None:
if self.viewer.is_running():
@@ -120,7 +145,7 @@ class MujocoSimulator:
if time_untile_next_render > 0:
time.sleep(time_untile_next_render)
self.viewer.sync()
if self.vid_writer is not None:
if self.vid_writer is not None and self.n_step % self.vid_frame_skip == 0:
self.renderer.update_scene(self.mj_data, camera=self.viewer.cam)
frame = self.renderer.render()
self.vid_writer.append_data(frame)
@@ -129,43 +154,75 @@ class MujocoSimulator:
logger.warning("Viewer closed by user, stop video recording.")
self.close_viewer()
n_sensor = self.mj_model.nsensor
proprio = RobotProprioception(
self.proprio = proprio = RobotProprioception(
joint=JointState(
pos=self.get_sensor_data('joint_pos'),
vel=self.get_sensor_data('joint_vel'),
force=self.get_sensor_data('joint_eff'),
),
imu=IMUState(
quat=self.get_sensor_data('imu_quat'),
ang_vel=self.get_sensor_data('imu_ang_vel'),
acc=self.get_sensor_data('imu_acc'),
pos=self.get_sensor_data('imu_pos'),
quat=self.get_sensor_data('imu_quat'),
acc=self.get_sensor_data('imu_acc'),
lin_vel=self.get_sensor_data('imu_lin_vel'),
ang_vel=self.get_sensor_data('imu_ang_vel'),
),
base=BaseState(
pos=self.mj_data.qpos[:3], # world frame
quat=self.mj_data.qpos[3:7], # world frame
vel=self.mj_data.qvel[:3], # body frame
lin_vel=self.mj_data.qvel[:3], # body frame
ang_vel=self.mj_data.qvel[3:6], # body frame
)
)
if self.n_step % int(0.1 / self.sim_dt) == 0:
logger.log(value=np.mean(proprio.imu.quat - proprio.base.quat), tag="sim/delta_quat", step=self.n_step)
logger.log(value=np.mean(proprio.imu.ang_vel - proprio.base.ang_vel), tag="sim/delta_ang_vel", step=self.n_step)
logger.log(value=np.mean(proprio.imu.lin_vel - proprio.base.lin_vel), tag="sim/delta_lin_vel", step=self.n_step)
if self.n_step == 0:
self.debug_print_proprio_shapes(proprio)
self.n_step += 1
self.debug_print_proprio_shapes()
return proprio
sim_data = SimData(
n_step=self.n_step,
sim_dt=self.sim_dt,
proprio=proprio
)
self.n_step += 1
self.sim_time = self.n_step * self.sim_dt
return sim_data
def reset(self):
""" Reset the simulator to initial state. """
self.mj_physics.reset()
self.mj_data.qpos[7:] = self.default_dof_pos
mujoco.mj_forward(self.mj_model, self.mj_data)
self.action = None
if self.viewer is not None:
self.viewer.sync()
def apply_action(self, action: np.ndarray):
""" Apply action to the simulator. """
self.mj_data.ctrl[:] = action
def setup_action(self,
action: np.ndarray,
p_gains: np.ndarray = None,
d_gains: np.ndarray = None,
control_type: Literal['P'] = 'P'
):
""" Setup action to the simulator. """
self.action = action
self.p_gains = p_gains
self.d_gains = d_gains
self.control_type = control_type
def update_torque(self):
if self.action is None:
return
dof_pos = self.proprio.joint.pos
dof_vel = self.proprio.joint.vel
if self.control_type == 'P':
torques = self.p_gains * (self.action - dof_pos) - self.d_gains * dof_vel
else:
raise NotImplementedError(f"Control type '{self.control_type}' not implemented.")
self.mj_data.ctrl[:] = torques
def close_viewer(self):
""" Close the viewer and video writer. """
@@ -189,12 +246,16 @@ class MujocoSimulator:
self.imu_acc = self.find_sensors(tag_name="accelerometer")
self.imu_pos = self.find_sensors(tag_name="framepos")
self.imu_lin_vel = self.find_sensors(tag_name="framelinvel")
actuator_names = [mujoco.mj_id2name(self.mj_model, mujoco.mjtObj.mjOBJ_ACTUATOR, i) for i in range(self.mj_model.nu)]
logger.info(
f"\n{'='*20} XML SENSOR NAMES {'='*20}\n"
f"""Joint Position Sensors [{len(self.joint_pos_sensor_names)}]: {self.joint_pos_sensor_names}\n"""
f"""Joint Velocity Sensors [{len(self.joint_vel_sensor_names)}]: {self.joint_vel_sensor_names}\n"""
f"""Joint Effort Sensors [{len(self.joint_eff_sensor_names)}]: {self.joint_eff_sensor_names}\n"""
f"""IMU Sensors: Quat{self.imu_quat}, AngVel{self.imu_ang_vel}, Acc{self.imu_acc}, Pos{self.imu_pos}, LinVel{self.imu_lin_vel}"""
f"""Joint Position Sensors [{len(self.joint_pos_sensor_names)}]: {[x.rsplit('/')[-1] for x in self.joint_pos_sensor_names]}\n"""
f"""Joint Velocity Sensors [{len(self.joint_vel_sensor_names)}]: {[x.rsplit('/')[-1] for x in self.joint_vel_sensor_names]}\n"""
f"""Joint Effort Sensors [{len(self.joint_eff_sensor_names)}]: {[x.rsplit('/')[-1] for x in self.joint_eff_sensor_names]}\n"""
f"""Actuators [{len(actuator_names)}]: {[x.rsplit('/')[-1] for x in actuator_names]}\n"""
f"""IMU Sensors: Quat{self.imu_quat}, AngVel{self.imu_ang_vel}, Acc{self.imu_acc}, Pos{self.imu_pos}, LinVel{self.imu_lin_vel}\n"""
f"""!!!Checkout actuators order is consistent with joint sensors!!!\n"""
f"{'='*58}"
)
# Cache sensor indices
@@ -259,7 +320,7 @@ class MujocoSimulator:
data_list.append(self.mj_data.sensordata[adr:adr+dim])
return np.concatenate(data_list)
def debug_print_proprio_shapes(self, proprio: RobotProprioception):
def debug_print_proprio_shapes(self):
"""Log shapes (or lengths) of each numpy vector inside a RobotProprioception.
This helps debug mismatched sensor sizes between robots.
@@ -271,9 +332,9 @@ class MujocoSimulator:
except Exception:
return None
jp = proprio.joint
bs = proprio.base
imu = proprio.imu
jp = self.proprio.joint
bs = self.proprio.base
imu = self.proprio.imu
logger.info("Proprioception shapes:")
logger.info(f" joint.pos: { _shape(jp.pos) }")
@@ -282,7 +343,7 @@ class MujocoSimulator:
logger.info(f" base.pos: { _shape(bs.pos) }")
logger.info(f" base.quat: { _shape(bs.quat) }")
logger.info(f" base.vel: { _shape(bs.vel) }")
logger.info(f" base.vel: { _shape(bs.lin_vel) }")
logger.info(f" base.ang_vel: { _shape(bs.ang_vel) }")
logger.info(f" imu.quat: { _shape(imu.quat) }")

14
robogauge/tasks/simulator/sim_data.py
View File

@@ -11,19 +11,25 @@ class JointState:
class BaseState:
pos: np.ndarray
quat: np.ndarray
vel: np.ndarray
lin_vel: np.ndarray
ang_vel: np.ndarray
@dataclass
class IMUState:
quat: np.ndarray
ang_vel: np.ndarray
acc: np.ndarray
pos: np.ndarray
quat: np.ndarray
acc: np.ndarray
lin_vel: np.ndarray
ang_vel: np.ndarray
@dataclass
class RobotProprioception:
joint: JointState
base: BaseState
imu: IMUState
@dataclass
class SimData:
n_step: int
sim_dt: float
proprio: RobotProprioception