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remove dip and add equality constraint to enforce dip and dip the same #4

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remove dip and add equality constraint to enforce dip and dip the same #4

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34 changes: 27 additions & 7 deletions mujoco_playground/_src/manipulation/tetheria_hand/rotate_z.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,18 @@ def __init__(

def _post_init(self) -> None:
self._hand_qids = mjx_env.get_qpos_ids(self.mj_model, consts.JOINT_NAMES)

# Change: this is the control joints that are used for the policy
self._control_qids = mjx_env.get_qpos_ids(
self.mj_model, consts.CONTROL_JOINT_NAMES
)

control_set = set(self._control_qids)
self._control_qids_bool = jp.array(
[qid in control_set for qid in self._hand_qids],
dtype=bool,
) # Change:boolean mask to check if the joint is a control joint

self._hand_dqids = mjx_env.get_qvel_ids(self.mj_model, consts.JOINT_NAMES)
self._cube_qids = mjx_env.get_qpos_ids(self.mj_model, ["cube_freejoint"])
self._floor_geom_id = self._mj_model.geom("floor").id
Expand All @@ -83,7 +95,7 @@ def _post_init(self) -> None:
home_key = self._mj_model.keyframe("home")
self._init_q = jp.array(home_key.qpos)
self._default_pose = self._init_q[self._hand_qids]
self._lowers, self._uppers = self.mj_model.actuator_ctrlrange.T
self._lowers, self._uppers = self.mj_model.jnt_range[self._hand_qids].T

def reset(self, rng: jax.Array) -> mjx_env.State:
# Randomize hand qpos and qvel.
Expand All @@ -110,7 +122,7 @@ def reset(self, rng: jax.Array) -> mjx_env.State:
self.mjx_model,
qpos=qpos,
qvel=qvel,
ctrl=q_hand,
ctrl=q_hand[self._control_qids_bool], # Change: only use the control joints
mocap_pos=jp.array([-100, -100, -100]), # Hide goal for this task.
)

Expand All @@ -126,13 +138,19 @@ def reset(self, rng: jax.Array) -> mjx_env.State:
for k in self._config.reward_config.scales.keys():
metrics[f"reward/{k}"] = jp.zeros(())

obs_history = jp.zeros(self._config.history_len * 40)
# Change: 35 is the sum of the number of the joints (20) and the number of the control actions (15)
obs_history = jp.zeros(self._config.history_len * 35)
obs = self._get_obs(data, info, obs_history)
reward, done = jp.zeros(2) # pylint: disable=redefined-outer-name
return mjx_env.State(data, obs, reward, done, metrics, info)

def step(self, state: mjx_env.State, action: jax.Array) -> mjx_env.State:
motor_targets = self._default_pose + action * self._config.action_scale
motor_targets = (
self._default_pose[
self._control_qids_bool
] # Change: use the control joints
+ +action * self._config.action_scale
)
# NOTE: no clipping.
data = mjx_env.step(self.mjx_model, state.data, motor_targets, self.n_substeps)
state.info["motor_targets"] = motor_targets
Expand Down Expand Up @@ -174,8 +192,8 @@ def _get_obs(

state = jp.concatenate(
[
noisy_joint_angles, # 16
info["last_act"], # 16
noisy_joint_angles, # Change: 16 (leap hand) to 20 (tetheria hand)
info["last_act"], # Change: 16 (leap hand) to 15 (tetheria hand)
]
) # 48
obs_history = jp.roll(obs_history, state.size)
Expand Down Expand Up @@ -241,7 +259,9 @@ def _cost_torques(self, torques: jax.Array) -> jax.Array:
return jp.sum(jp.square(torques))

def _cost_energy(self, qvel: jax.Array, qfrc_actuator: jax.Array) -> jax.Array:
return jp.sum(jp.abs(qvel) * jp.abs(qfrc_actuator))
return jp.sum(
jp.abs(qvel[self._control_qids_bool]) * jp.abs(qfrc_actuator)
) # Change: only use the control joints

def _cost_linvel(self, cube_linvel: jax.Array) -> jax.Array:
return jp.linalg.norm(cube_linvel, ord=1, axis=-1)
Expand Down
43 changes: 38 additions & 5 deletions mujoco_playground/_src/manipulation/tetheria_hand/tetheria_hand_constants.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,39 @@
# "th_ipl",
]

CONTROL_JOINT_NAMES = [
# index
"right_index_mcp_abd",
"right_index_mcp_flex",
"right_index_pip",
# "right_index_dip",
# "if_dip",
# middle
"right_middle_mcp_abd",
"right_middle_mcp_flex",
"right_middle_pip",
# "right_middle_dip",
# "mf_dip",
# ring
"right_ring_mcp_abd",
"right_ring_mcp_flex",
"right_ring_pip",
# "right_ring_dip",
# "rf_dip",
# pinky
"right_pinky_mcp_abd",
"right_pinky_mcp_flex",
"right_pinky_pip",
# "right_pinky_dip",
# "th_dip",
# thumb
"right_thumb_cmc_abd",
"right_thumb_cmc_flex",
"right_thumb_mcp",
# "right_thumb_ip",
# "th_ipl",
]

# CONTROLJOINT_NAMES = [
# # index
# "right_index_mcp_flex",
Expand Down Expand Up @@ -102,31 +135,31 @@
"right_index_A_mcp_abd",
"right_index_A_mcp_flex",
"right_index_A_pip",
"right_index_A_dip",
# "right_index_A_dip",
# "if_dip_act",
# middle
"right_middle_A_mcp_abd",
"right_middle_A_mcp_flex",
"right_middle_A_pip",
"right_middle_A_dip",
# "right_middle_A_dip",
# "mf_dip_act",
# ring
"right_ring_A_mcp_abd",
"right_ring_A_mcp_flex",
"right_ring_A_pip",
"right_ring_A_dip",
# "right_ring_A_dip",
# "rf_dip_act",
# pinky
"right_pinky_A_mcp_abd",
"right_pinky_A_mcp_flex",
"right_pinky_A_pip",
"right_pinky_A_dip",
# "right_pinky_A_dip",
# "th_dip_act",
# thumb
"right_thumb_A_mcp_abd",
"right_thumb_A_cmc_flex",
"right_thumb_A_pip",
"right_thumb_A_dip",
# "right_thumb_A_dip",
# "th_ipl_act",
# "th_mcp_act",
# "th_ipl_act",
Expand Down
19 changes: 9 additions & 10 deletions mujoco_playground/_src/manipulation/tetheria_hand/xmls/PreGen1_RightHand.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -361,37 +361,36 @@
<position name="right_index_A_mcp_abd" joint="right_index_mcp_abd" class="mcp" />
<position name="right_index_A_mcp_flex" joint="right_index_mcp_flex" class="rot" />
<position name="right_index_A_pip" joint="right_index_pip" class="dip" />
<position name="right_index_A_dip" joint="right_index_dip" class="pip" />
<!-- <position name="right_index_A_dip" joint="right_index_dip" class="pip" /> -->

<position name="right_middle_A_mcp_abd" joint="right_middle_mcp_abd" class="mcp" />
<position name="right_middle_A_mcp_flex" joint="right_middle_mcp_flex" class="rot" />
<position name="right_middle_A_pip" joint="right_middle_pip" class="dip" />
<position name="right_middle_A_dip" joint="right_middle_dip" class="pip" />
<!-- <position name="right_middle_A_dip" joint="right_middle_dip" class="pip" /> -->

<position name="right_ring_A_mcp_abd" joint="right_ring_mcp_abd" class="mcp" />
<position name="right_ring_A_mcp_flex" joint="right_ring_mcp_flex" class="rot" />
<position name="right_ring_A_pip" joint="right_ring_pip" class="dip" />
<position name="right_ring_A_dip" joint="right_ring_dip" class="pip" />
<!-- <position name="right_ring_A_dip" joint="right_ring_dip" class="pip" /> -->

<position name="right_pinky_A_mcp_abd" joint="right_pinky_mcp_abd" class="mcp" />
<position name="right_pinky_A_mcp_flex" joint="right_pinky_mcp_flex" class="rot" />
<position name="right_pinky_A_pip" joint="right_pinky_pip" class="dip" />
<position name="right_pinky_A_dip" joint="right_pinky_dip" class="pip" />
<!-- <position name="right_pinky_A_dip" joint="right_pinky_dip" class="pip" /> -->

<!-- <position name="rh_A_TBJ0" tendon="rh_TBJ0" class="thumb_ipl" /> -->
<position name="right_thumb_A_mcp_abd" joint="right_thumb_cmc_abd" class="thumb_cmc" />
<position name="right_thumb_A_cmc_flex" joint="right_thumb_cmc_flex" class="thumb_axl" />
<position name="right_thumb_A_pip" joint="right_thumb_mcp" class="thumb_mcp" />
<position name="right_thumb_A_dip" joint="right_thumb_ip" class="thumb_ipl" />
<!-- <position name="right_thumb_A_dip" joint="right_thumb_ip" class="thumb_ipl" /> -->
</actuator>

<!-- <equality> -->
<!-- <weld body1="mocap" body2="tetheria_mount" solref="0.01 1" solimp=".9 .9 0.01" /> -->
<!-- <joint joint1="right_thumb_mcp" joint2="right_thumb_ip"/>
<equality>
<joint joint1="right_thumb_mcp" joint2="right_thumb_ip"/>
<joint joint1="right_index_pip" joint2="right_index_dip"/>
<joint joint1="right_middle_pip" joint2="right_middle_dip"/>
<joint joint1="right_ring_pip" joint2="right_ring_dip"/>
<joint joint1="right_pinky_pip" joint2="right_pinky_dip"/> -->
<!-- </equality> -->
<joint joint1="right_pinky_pip" joint2="right_pinky_dip"/>
</equality>

</mujoco>
10 changes: 5 additions & 5 deletions mujoco_playground/_src/manipulation/tetheria_hand/xmls/scene_mjx_cube.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -57,11 +57,11 @@
0 0.75 0.75 0.75
0.75 0.2 0.6 0.6
0.12 0.0 0.05 0.810967 -0.00262895 -0.585086 -0.000254303" ctrl="
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0 0.75 0.75 0.75
0.75 0.2 0.6 0.6 " mpos="0.25 0.16 0" mquat="1 0 0 0"/>
0 0.75 0.75
0 0.75 0.75
0 0.75 0.75
0 0.75 0.75
0.75 0.2 0.6 " mpos="0.25 0.16 0" mquat="1 0 0 0"/>
</keyframe>
<!-- <keyframe>
<key name="home" qpos="
Expand Down