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Fix joints and actuators #575

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merged 2 commits into from
Nov 26, 2024
Merged

Fix joints and actuators #575

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2445387
Remove remaining joints and fix actuator computation
Nov 22, 2024
164022c
Fix order
Nov 22, 2024
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6 changes: 6 additions & 0 deletions robosuite/models/robots/manipulators/legged_manipulator_model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,12 @@ def _remove_joint_actuation(self, part_name):
parent_body = find_parent(self.actuator, motor)
parent_body.remove(motor)
self._actuators.remove(motor.get("name").replace(self.naming_prefix, ""))
for fixed in self.tendon.findall(".//fixed"):
for joint in fixed.findall(".//joint"):
if part_name in joint.get("joint"):
parent_body = find_parent(self.tendon, fixed)
parent_body.remove(fixed)
break

def _remove_free_joint(self):
# remove freejoint
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7 changes: 4 additions & 3 deletions robosuite/robots/legged_robot.py
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Expand Up @@ -186,9 +186,10 @@ def control(self, action, policy_step=False):
for part_name, applied_action in applied_action_dict.items():
applied_action_low = self.sim.model.actuator_ctrlrange[self._ref_actuators_indexes_dict[part_name], 0]
applied_action_high = self.sim.model.actuator_ctrlrange[self._ref_actuators_indexes_dict[part_name], 1]
applied_action = np.clip(applied_action, applied_action_low, applied_action_high)

self.sim.data.ctrl[self._ref_actuators_indexes_dict[part_name]] = applied_action
actuator_indexes = self._ref_actuators_indexes_dict[part_name]
actuator_gears = self.sim.model.actuator_gear[actuator_indexes, 0]
applied_action = np.clip(applied_action / actuator_gears, applied_action_low, applied_action_high)
self.sim.data.ctrl[actuator_indexes] = applied_action

# If this is a policy step, also update buffers holding recent values of interest
if policy_step:
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