Proposal
Right now, explicit actuators default_joint_stiffness and default_joint_damping are set to zeros. This makes the data structure inconsistent. I think we should correct this issue as it can simplify domain randomization functions.
See this comment for more details
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if isinstance(actuator, ImplicitActuator): |
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self._has_implicit_actuators = True |
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# the gains and limits are set into the simulation since actuator model is implicit |
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self.write_joint_stiffness_to_sim(actuator.stiffness, joint_ids=actuator.joint_indices) |
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self.write_joint_damping_to_sim(actuator.damping, joint_ids=actuator.joint_indices) |
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self.write_joint_effort_limit_to_sim(actuator.effort_limit, joint_ids=actuator.joint_indices) |
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self.write_joint_armature_to_sim(actuator.armature, joint_ids=actuator.joint_indices) |
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self.write_joint_friction_to_sim(actuator.friction, joint_ids=actuator.joint_indices) |
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else: |
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# the gains and limits are processed by the actuator model |
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# we set gains to zero, and torque limit to a high value in simulation to avoid any interference |
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self.write_joint_stiffness_to_sim(0.0, joint_ids=actuator.joint_indices) |
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self.write_joint_damping_to_sim(0.0, joint_ids=actuator.joint_indices) |
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self.write_joint_effort_limit_to_sim(1.0e9, joint_ids=actuator.joint_indices) |
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self.write_joint_armature_to_sim(actuator.armature, joint_ids=actuator.joint_indices) |
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self.write_joint_friction_to_sim(actuator.friction, joint_ids=actuator.joint_indices) |
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# set the default joint parameters based on the changes from the actuators |
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self._data.default_joint_stiffness = self.root_physx_view.get_dof_stiffnesses().to(device=self.device).clone() |
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self._data.default_joint_damping = self.root_physx_view.get_dof_dampings().to(device=self.device).clone() |
The defaults are set to zeros because we get the defaults from the sim
Please advise if you see any compatibility issues with this idea.
