Genesis-Embodied-AI
set the center gravity for the robot
hello,finally I successfully run the genesis on my device,and take my dual arm robot in it by URDF format.
however, while playing demo like "Control your robot",my robot fell down.
if i can set my robot gravity for robot unit?
I recommend visualizing the robot's center of mass to ensure its projection falls within the range covered by wheels.
thanks for you reply ! I have overcome this question ,and now i am putting effort on setting my camera on my robot,if there any sample showing how to binding the camera to the end of joint?
And some of the functions like language generate scene showed in the demo, when will it release? And now the project is running at a relatively slow speed with poor physical simulation. Will it be improved after the release of the beta version in the future？ Looking forward to your reply!
Could you elaborate on slow speed and poor simulation? -- if there's any issue we will fix asap, but we treat it seriously
Thank for your reply. My device is 2000 ada Laptop,and when I running my robot without any camera, it will have 60+FPS,while adding a camera only with RGB,the FPS of it will decrease less than 15 FPS, is it working properly?I will show my code this morning.
4x slower seems reasonable to me.
I will check if there is an API for mounting cameras, but in the meantime, setting the camera's position could serve as a temporary solution to your problem.
No it shouldn't be so slow. Could you provide your script?
Also - if you are not looking for gpu-aceelerated parallel env, you should us gs.cpu backend. it will be much faster
here is my code:
import genesis as gs
import numpy as np
import cv2
gs.init(backend=gs.gpu)
# -----------场景初始化-----------
scene = gs.Scene(show_viewer=True)
# -----------背景-----------
plane = scene.add_entity(gs.morphs.Plane())
# -----------机械臂-----------
cam = scene.add_camera(
res = (1280, 960),
pos = (3.5, 0.0, 2.5),
lookat = (0, 0, 0.5),
fov = 30,
GUI = True
)
rm_dual = scene.add_entity(
gs.morphs.URDF(file='/home/nvidia/Genesis/rm_models/dual_arm_robot/urdf/dual_arm_robot.urdf'),
)
# -----------生成初始化-----------
scene.build()
# 相机操作
# rgb, depth, segmentation, normal = cam.render(depth=True, segmentation=True, normal=True)
# 绑定对应左手控制关节
left_jnt_names = [f"Joint_left{i}" for i in range(1,7)]+[f"Joint_l_finger{i}" for i in range(1,3)]
l_dofs_idx = [rm_dual.get_joint(name).dof_idx_local for name in left_jnt_names]
# 绑定对应右手控制关节
right_jnt_names = [f"Joint_right{i}" for i in range(1,7)]+[f"Joint_r_finger{i}" for i in range(1,3)]
r_dofs_idx = [rm_dual.get_joint(name).dof_idx_local for name in right_jnt_names]
# 绑定车轮
left_wheel_names = [f'joint_wheel_lf{i}' for i in range(1,3)]+[f'joint_wheel_lb{i}' for i in range(1,3)]
right_wheel_names = [f'joint_wheel_rf{i}' for i in range(1,3)]+[f'joint_wheel_rb{i}' for i in range(1,3)]
l_wheel_dofs_idx = [rm_dual.get_joint(name).dof_idx_local for name in left_wheel_names]
r_wheel_dofs_idx = [rm_dual.get_joint(name).dof_idx_local for name in right_wheel_names]
wheel_go_names =['joint_wheel_right','joint_wheel_left']
wheel_go_index = [rm_dual.get_joint(name).dof_idx_local for name in wheel_go_names]
# 绑定相机
cam_names =['joint_camera_ro']
cam_index = [rm_dual.get_joint(name).dof_idx_local for name in cam_names]
# 设置一些运动参数
# -----------左臂参数-----------
# 设置位置增益参数
rm_dual.set_dofs_kp(
kp = np.array([4500, 4500, 3500, 3500, 2000, 2000, 100, 100]),
dofs_idx_local = l_dofs_idx,
)
# 设置速度增益参数：
rm_dual.set_dofs_kv(
kv = np.array([1000, 1000, 1000, 1000, 1000, 1000, 10, 10]),
dofs_idx_local = l_dofs_idx,
)
# 设置力控安全区间
rm_dual.set_dofs_force_range(
lower = np.array([-87, -87, -87, -87, -12, -12, -100, -100]),
upper = np.array([ 87, 87, 87, 87, 12, 12, 100, 100]),
dofs_idx_local = l_dofs_idx,
)
# -----------右臂参数-----------
# 设置位置增益参数
rm_dual.set_dofs_kp(
kp = np.array([4500, 4500, 3500, 3500, 2000, 2000, 100, 100]),
dofs_idx_local = r_dofs_idx,
)
# 设置速度增益参数
rm_dual.set_dofs_kv(
kv = np.array([1000, 1000, 1000, 1000, 1000, 1000, 10, 10]),
dofs_idx_local = r_dofs_idx,
)
# 设置力控安全区间
rm_dual.set_dofs_force_range(
lower = np.array([-87, -87, -87, -87, -12, -12, -100, -100]),
upper = np.array([ 87, 87, 87, 87, 12, 12, 100, 100]),
dofs_idx_local = r_dofs_idx,
)
# -----------设置机械轮子参数-----------
# 左侧轮子
# 设置位置增益参数
rm_dual.set_dofs_kp(
kp = np.array([100,100,100,100]),
dofs_idx_local = l_wheel_dofs_idx,
)
# 设置速度增益参数
rm_dual.set_dofs_kv(
kv = np.array([1000, 1000, 1000, 1000]),
dofs_idx_local = l_wheel_dofs_idx,
)
# 设置力控安全区间
rm_dual.set_dofs_force_range(
lower = np.array([-87, -87, -87, -87]),
upper = np.array([ 87, 87, 87, 87]),
dofs_idx_local = l_wheel_dofs_idx,
)
# 右侧轮子
rm_dual.set_dofs_kp(
kp = np.array([100,100,100,100]),
dofs_idx_local = r_wheel_dofs_idx,
)
# 设置速度增益参数
rm_dual.set_dofs_kv(
kv = np.array([1000, 1000, 1000, 1000]),
dofs_idx_local = r_wheel_dofs_idx,
)
# 设置力控安全区间
rm_dual.set_dofs_force_range(
lower = np.array([-87, -87, -87, -87]),
upper = np.array([ 87, 87, 87, 87]),
dofs_idx_local = r_wheel_dofs_idx,
)
# 前进轮
rm_dual.set_dofs_kp(
kp = np.array([100,100]),
dofs_idx_local = wheel_go_index,
)
# 设置速度增益参数
rm_dual.set_dofs_kv(
kv = np.array([1000, 1000]),
dofs_idx_local = wheel_go_index,
)
# 设置力控安全区间
rm_dual.set_dofs_force_range(
lower = np.array([-87, -87]),
upper = np.array([ 87, 87]),
dofs_idx_local = wheel_go_index,
)
# -----------运动动作预览-----------
# Hard reset
for i in range(50):
if i < 50:
rm_dual.set_dofs_position(
np.array([0,0,0,0,0,0,0.04,0.04]),
l_dofs_idx
)
rm_dual.set_dofs_position(
np.array([0,0,0,0,0,0,0.04,0.04]),
r_dofs_idx
)
rm_dual.set_dofs_position(
np.array([1.57]),
r_wheel_dofs_idx[:1]
)
rm_dual.set_dofs_position(
np.array([1.57]),
cam_index[:1]
)
scene.step()
# cam.render()
for i in range(1200):
if i == 0:
rm_dual.control_dofs_position(
np.array([0,0,0,0,0,0,0.03,0.03]),
l_dofs_idx
)
rm_dual.control_dofs_position(
np.array([0,0,0,0,0,0,0.03,0.03]),
r_dofs_idx
)
rm_dual.control_dofs_velocity(
np.array([5,-5]),
wheel_go_index
)
if i == 300:
rm_dual.control_dofs_position(
np.array([0,1,0,0,0,-1,0,0]),
l_dofs_idx
)
rm_dual.control_dofs_position(
np.array([0,-1,0,0,0,1,0,0]),
r_dofs_idx
)
rm_dual.control_dofs_velocity(
np.array([0,0]),
wheel_go_index
)
if i==600:
rm_dual.control_dofs_position(
np.array([0,1,0,0,0,-1,0.03,0.03]),
l_dofs_idx
)
rm_dual.control_dofs_position(
np.array([0,-1,0,0,0,1,0.03,0.03]),
r_dofs_idx
)
rm_dual.control_dofs_velocity(
np.array([5,5]),
wheel_go_index
)
if i==900:
rm_dual.control_dofs_position(
np.array([0,0,0,0,0,0,0,0]),
l_dofs_idx
)
rm_dual.control_dofs_position(
np.array([0,0,0,0,0,0,0.1,1]),
r_dofs_idx
)
rm_dual.control_dofs_velocity(
np.array([5,-5]),
wheel_go_index
)
cam_pos = rm_dual.get_dofs_position(cam_index[:1])
print(rm_dual.joints[cam_index[0]])
print(rm_dual.joints[cam_index[0]].get_pos())
scene.step()
# cam.render()
and I try to get the camera pos but failed,get the err under:
Traceback (most recent call last):
File "/home/nvidia/Genesis/try.py", line 218, in <module>
print(rm_dual.joints[cam_index[0]].get_pos())
File "/home/nvidia/Genesis/genesis/utils/misc.py", line 48, in wrapper
return method(self, *args, **kwargs)
File "/home/nvidia/Genesis/genesis/engine/entities/rigid_entity/rigid_joint.py", line 84, in get_pos
self._kernel_get_pos(tensor)
File "/home/nvidia/.conda/envs/Genesis/lib/python3.10/site-packages/taichi/lang/kernel_impl.py", line 1178, in __call__
raise type(e)("\n" + str(e)) from None
taichi.lang.exception.TaichiIndexError:
File "/home/nvidia/Genesis/genesis/engine/entities/rigid_entity/rigid_joint.py", line 94, in _kernel_get_pos:
l_info = self._solver.links_info[self._idx, i_b]
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Field with dim 1 accessed with indices of dim 2
withou this code line ,the code run about 50 FPS,and if I add cam.reder,it runs under 18FPS
for this error, please check https://github.com/Genesis-Embodied-AI/Genesis/pull/323
