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update simple wrapper #9

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Merged
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Jun 5, 2025
Merged

update simple wrapper #9

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31 changes: 19 additions & 12 deletions go2_simulation/simple_wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,19 +29,28 @@ def __init__(self, model, geom_model, visual_model, q0, args):
patch_req.setPatchTolerance(args["patch_tolerance"])

# Simulation parameters
self.simulator = simple.SimulatorInstance(model, self.data, geom_model, self.geom_data)
self.simulator.contact_solver_info = pin.ProximalSettings(
args["tol"], args["tol_rel"], args["mu_prox"], args["maxit"]
)
self.simulator = simple.Simulator(model, self.data, geom_model, self.geom_data)
# admm
self.simulator.admm_constraint_solver_settings.absolute_precision = args["tol"]
self.simulator.admm_constraint_solver_settings.relative_precision = args["tol_rel"]
self.simulator.admm_constraint_solver_settings.max_iter = args["maxit"]
self.simulator.admm_constraint_solver_settings.mu = args["mu_prox"]
# pgs
self.simulator.pgs_constraint_solver_settings.absolute_precision = args["tol"]
self.simulator.pgs_constraint_solver_settings.relative_precision = args["tol_rel"]
self.simulator.pgs_constraint_solver_settings.max_iter = args["maxit"]
#
self.simulator.warm_start_constraint_forces = args["warm_start"]
self.simulator.measure_timings = True
# Contact patch settings
self.simulator.constraint_problem.setMaxNumberOfContactsPerCollisionPair(
self.simulator.constraints_problem.setMaxNumberOfContactsPerCollisionPair(
args["max_patch_size"]
)
# Baumgarte settings
self.simulator.constraint_problem.Kp = args["Kp"]
self.simulator.constraint_problem.Kd = args["Kd"]
contact_constraints = self.simulator.constraints_problem.frictional_point_constraint_models
for i in range(len(contact_constraints)):
contact_constraints[i].baumgarte_corrector_parameters.Kp = args["Kp"]
contact_constraints[i].baumgarte_corrector_parameters.Kd = args["Kd"]
if args["admm_update_rule"] == "spectral":
self.simulator.admm_constraint_solver_settings.admm_update_rule = (
pin.ADMMUpdateRule.SPECTRAL
Expand All @@ -62,18 +71,16 @@ def __init__(self, model, geom_model, visual_model, q0, args):
self.a = np.zeros(self.model.nv)
self.f_feet = np.zeros(4)

self.fext = [pin.Force(np.zeros(6)) for _ in range(model.njoints)]
fps = min([self.args["max_fps"], 1.0 / self.dt])
self.dt_vis = 1.0 / float(fps)
self.simulator.reset()

pass

def execute(self, tau):
if self.args["contact_solver"] == "ADMM":
self.simulator.step(self.q, self.v, tau, self.fext, self.dt)
self.simulator.step(self.q, self.v, tau, self.dt)
else:
self.simulator.stepPGS(self.q, self.v, tau, self.fext, self.dt)
self.simulator.stepPGS(self.q, self.v, tau, self.dt)
#print(self.simulator.getStepCPUTimes().user)
self.q = self.simulator.qnew.copy()
self.v = self.simulator.vnew.copy()
Expand Down Expand Up @@ -231,7 +238,7 @@ def init_simple(self, timestep):
i = i + 1

# Create the simulator object
self.simulator = SimpleSimulator(self.rmodel, self.geom_model, visual_model, initial_q, np.zeros(self.rmodel.nv), self.params)
self.simulator = SimpleSimulator(self.rmodel, self.geom_model, visual_model, initial_q, self.params)

def step(self, tau_cmd):
# Execute step and get new state
Expand Down