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fan-ziqifan-ziqi
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fix: update go2w asset to accelerated training
1 parent 4207530 commit fc150eb

2 files changed

Lines changed: 74 additions & 37 deletions

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‎source/robot_lab/data/Robots/unitree/go2w_description/urdf/go2w_description.urdf‎

Lines changed: 70 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -28,7 +28,8 @@
2828
<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
31-
<cylinder radius="0.06" length="0.09" />
31+
<!-- <cylinder radius="0.06" length="0.09" /> -->
32+
<sphere radius="0.06" />
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</geometry>
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</collision>
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</link>
@@ -72,7 +73,8 @@
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
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<geometry>
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<cylinder length="0.04" radius="0.046" />
76+
<!-- <cylinder length="0.04" radius="0.046" /> -->
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<sphere radius="0.046" />
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</geometry>
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</collision>
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</link>
@@ -127,7 +129,8 @@
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<collision>
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<origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
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<geometry>
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<cylinder length="0.12" radius="0.012" />
132+
<!-- <cylinder length="0.12" radius="0.013" /> -->
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<box size="0.026 0.026 0.12" />
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</geometry>
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</collision>
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</link>
@@ -142,7 +145,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.065" radius="0.011" />
148+
<!-- <cylinder length="0.065" radius="0.011" /> -->
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<box size="0.022 0.022 0.065" />
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</geometry>
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</collision>
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</link>
@@ -156,7 +160,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
159-
<cylinder length="0.03" radius="0.0155" />
163+
<!-- <cylinder length="0.03" radius="0.0155" /> -->
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<box size="0.031 0.031 0.03" />
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</geometry>
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</collision>
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</link>
@@ -173,12 +178,12 @@
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<mass value="0.646" />
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0016" iyz="0" izz="0.001" />
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</inertial>
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<collision>
181+
<!-- <collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.05" />
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</geometry>
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</collision>
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</collision> -->
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</link>
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<joint name="FL_foot_motor_joint" type="fixed">
@@ -201,11 +206,17 @@
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</geometry>
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<material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
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</visual>
204-
<collision>
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<!-- <collision>
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<origin rpy="0 0 0" xyz="0 0.0 0" />
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<geometry>
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<mesh filename="package://go2w_description/meshes/left_wheel.dae" />
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</geometry>
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</collision> -->
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0.048 0" />
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<geometry>
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<cylinder length="0.045" radius="0.086" />
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</geometry>
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</collision>
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</link>
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<joint name="FL_foot_joint" type="continuous">
@@ -232,7 +243,8 @@
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
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<geometry>
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<cylinder length="0.04" radius="0.046" />
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<!-- <cylinder length="0.04" radius="0.046" /> -->
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<sphere radius="0.046" />
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</geometry>
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</collision>
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</link>
@@ -287,7 +299,8 @@
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<collision>
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<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
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<geometry>
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<cylinder length="0.12" radius="0.013" />
302+
<!-- <cylinder length="0.12" radius="0.013" /> -->
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<box size="0.026 0.026 0.12" />
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</geometry>
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</collision>
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</link>
@@ -302,7 +315,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.065" radius="0.011" />
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<!-- <cylinder length="0.065" radius="0.011" /> -->
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<box size="0.022 0.022 0.065" />
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</geometry>
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</collision>
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</link>
@@ -316,7 +330,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.03" radius="0.0155" />
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<!-- <cylinder length="0.03" radius="0.0155" /> -->
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<box size="0.031 0.031 0.03" />
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</geometry>
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</collision>
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</link>
@@ -333,12 +348,12 @@
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<mass value="0.646" />
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0016" iyz="0" izz="0.001" />
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</inertial>
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<collision>
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<!-- <collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.05" />
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</geometry>
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</collision>
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</collision> -->
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</link>
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<joint name="FR_foot_motor_joint" type="fixed">
@@ -361,11 +376,16 @@
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</geometry>
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<material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
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</visual>
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<collision>
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<!-- <collision>
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<origin rpy="0 0 0" xyz="0 -0.0 0" />
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<geometry>
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<mesh filename="package://go2w_description/meshes/right_wheel.dae" />
368-
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</geometry>
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</collision> -->
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 -0.048 0" />
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<geometry>
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<cylinder length="0.045" radius="0.086" />
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</geometry>
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</collision>
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</link>
@@ -392,7 +412,8 @@
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
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<geometry>
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<cylinder length="0.04" radius="0.046" />
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<!-- <cylinder length="0.04" radius="0.046" /> -->
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<sphere radius="0.046" />
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</geometry>
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</collision>
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</link>
@@ -447,7 +468,8 @@
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<collision>
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<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
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<geometry>
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<cylinder length="0.12" radius="0.013" />
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<!-- <cylinder length="0.12" radius="0.013" /> -->
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<box size="0.026 0.026 0.12" />
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</geometry>
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</collision>
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</link>
@@ -462,7 +484,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.065" radius="0.011" />
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<!-- <cylinder length="0.065" radius="0.011" /> -->
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<box size="0.022 0.022 0.065" />
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</geometry>
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</collision>
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</link>
@@ -476,7 +499,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.03" radius="0.0155" />
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<!-- <cylinder length="0.03" radius="0.0155" /> -->
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<box size="0.031 0.031 0.03" />
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</geometry>
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</collision>
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</link>
@@ -493,12 +517,12 @@
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<mass value="0.646" />
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0016" iyz="0" izz="0.001" />
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</inertial>
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<collision>
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<!-- <collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.05" />
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</geometry>
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</collision>
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</collision> -->
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</link>
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<joint name="RL_foot_motor_joint" type="fixed">
@@ -522,11 +546,16 @@
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</geometry>
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<material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
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</visual>
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<collision>
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<!-- <collision>
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<origin rpy="0 0 0" xyz="0 0.0 0" />
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<geometry>
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<mesh filename="package://go2w_description/meshes/left_wheel.dae" />
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</geometry>
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</collision> -->
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0.048 0" />
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<geometry>
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<cylinder length="0.045" radius="0.086" />
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</geometry>
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</collision>
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</link>
@@ -553,7 +582,8 @@
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
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<geometry>
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<cylinder length="0.04" radius="0.046" />
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<!-- <cylinder length="0.04" radius="0.046" /> -->
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<sphere radius="0.046" />
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</geometry>
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</collision>
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</link>
@@ -608,7 +638,8 @@
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<collision>
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<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
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<geometry>
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<cylinder length="0.12" radius="0.013" />
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<!-- <cylinder length="0.12" radius="0.013" /> -->
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<box size="0.026 0.026 0.12" />
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</geometry>
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</collision>
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</link>
@@ -623,7 +654,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.065" radius="0.011" />
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<!-- <cylinder length="0.065" radius="0.011" /> -->
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<box size="0.022 0.022 0.065" />
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</geometry>
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</collision>
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</link>
@@ -637,7 +669,8 @@
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.03" radius="0.0155" />
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<!-- <cylinder length="0.03" radius="0.0155" /> -->
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<box size="0.031 0.031 0.03" />
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</geometry>
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</collision>
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</link>
@@ -654,12 +687,12 @@
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<mass value="0.646" />
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0016" iyz="0" izz="0.001" />
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</inertial>
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<collision>
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<!-- <collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.05" />
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</geometry>
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</collision>
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</collision> -->
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</link>
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<joint name="RR_foot_motor_joint" type="fixed">
@@ -682,11 +715,16 @@
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</geometry>
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<material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
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</visual>
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<collision>
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<!-- <collision>
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<origin rpy="0 0 0" xyz="0 -0.0 0" />
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<geometry>
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<mesh filename="package://go2w_description/meshes/right_wheel.dae" />
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</geometry>
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</collision> -->
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 -0.048 0" />
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<geometry>
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<cylinder length="0.045" radius="0.086" />
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</geometry>
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</collision>
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</link>

‎source/robot_lab/robot_lab/assets/unitree.py‎

Lines changed: 4 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -135,7 +135,7 @@
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max_depenetration_velocity=1.0,
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),
137137
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
138-
enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0
138+
enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=1
139139
),
140140
joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg(
141141
gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=0, damping=0)
@@ -155,11 +155,10 @@
155155
),
156156
soft_joint_pos_limit_factor=0.9,
157157
actuators={
158-
"legs": DCMotorCfg(
158+
"legs": ImplicitActuatorCfg(
159159
joint_names_expr=["^(?!.*_foot_joint).*"],
160-
effort_limit=23.5,
161-
saturation_effort=23.5,
162-
velocity_limit=30.0,
160+
effort_limit_sim=23.5,
161+
velocity_limit_sim=30.0,
163162
stiffness=25.0,
164163
damping=0.5,
165164
friction=0.0,

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