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Remove root-specific API #1

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52 changes: 14 additions & 38 deletions newton/examples/example_selection_ant.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ def __init__(self, stage_path=None, num_envs=8):
# ===========================================================
# create articulation view
# ===========================================================
self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=True)
self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso")

print(f"articulation count: {self.ants.count}")
print(f"link_count: {self.ants.link_count}")
Expand All @@ -95,27 +95,14 @@ def __init__(self, stage_path=None, num_envs=8):
dof_limit_upper = wp.to_torch(self.ants.get_attribute("joint_limit_upper", self.model))
default_dof_transforms = 0.5 * (dof_limit_lower + dof_limit_upper)

if self.ants.include_free_joint:
# combined root and dof transforms
self.default_transforms = wp.to_torch(self.ants.get_attribute("joint_q", self.model)).clone()
self.default_transforms[:, 2] = 0.8 # z-coordinate of articulation root
self.default_transforms[:, 7:] = default_dof_transforms
# combined root and dof velocities
self.default_velocities = wp.to_torch(self.ants.get_attribute("joint_qd", self.model)).clone()
self.default_velocities[:, 2] = 0.5 * math.pi # rotate about z-axis
self.default_velocities[:, 5] = 5.0 # move up z-axis
else:
# root transforms
self.default_root_transforms = wp.to_torch(self.ants.get_root_transforms(self.model)).clone()
self.default_root_transforms[:, 2] = 0.8
# dof transforms
self.default_dof_transforms = default_dof_transforms
# root velocities
self.default_root_velocities = wp.to_torch(self.ants.get_root_velocities(self.model)).clone()
self.default_root_velocities[:, 2] = 0.5 * math.pi # rotate about z-axis
self.default_root_velocities[:, 5] = 5.0 # move up z-axis
# dof velocities
self.default_dof_velocities = wp.to_torch(self.ants.get_attribute("joint_qd", self.model)).clone()
# combined root and dof transforms
self.default_transforms = wp.to_torch(self.ants.get_attribute("joint_q", self.model)).clone()
self.default_transforms[:, 2] = 0.8 # z-coordinate of articulation root
self.default_transforms[:, 7:] = default_dof_transforms
# combined root and dof velocities
self.default_velocities = wp.to_torch(self.ants.get_attribute("joint_qd", self.model)).clone()
self.default_velocities[:, 2] = 0.5 * math.pi # rotate about z-axis
self.default_velocities[:, 5] = 5.0 # move up z-axis

# create disjoint index groups to alternate between
all_indices = torch.arange(num_envs, dtype=torch.int32)
Expand Down Expand Up @@ -152,10 +139,9 @@ def step(self):
# =========================
# apply random controls
# =========================
joint_forces = 300.0 - 600.0 * torch.rand((self.num_envs, 8))
if self.ants.include_free_joint:
# include the leading root joint (pad with zeros)
joint_forces = torch.cat([torch.zeros((self.num_envs, 6)), joint_forces], axis=1)
joint_forces = wp.to_torch(self.ants.get_attribute("joint_f", self.control))
# skip the free joint
joint_forces[:, 6:] = 300.0 - 600.0 * torch.rand((self.num_envs, self.ants.joint_axis_count))
self.ants.set_attribute("joint_f", self.control, joint_forces)

with wp.ScopedTimer("step", active=False):
Expand All @@ -169,18 +155,8 @@ def reset(self, indices=None):
# ==============================
# set transforms and velocities
# ==============================
if self.ants.include_free_joint:
# set root and dof transforms together
self.ants.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices)
# set root and dof velocities together
self.ants.set_attribute("joint_qd", self.state_0, self.default_velocities, indices=indices)
else:
# set root and dof transforms separately
self.ants.set_root_transforms(self.state_0, self.default_root_transforms, indices=indices)
self.ants.set_attribute("joint_q", self.state_0, self.default_dof_transforms, indices=indices)
# set root and dof velocities separately
self.ants.set_root_velocities(self.state_0, self.default_root_velocities, indices=indices)
self.ants.set_attribute("joint_qd", self.state_0, self.default_dof_velocities, indices=indices)
self.ants.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices)
self.ants.set_attribute("joint_qd", self.state_0, self.default_velocities, indices=indices)

if not isinstance(self.solver, newton.solvers.MuJoCoSolver):
self.ants.eval_fk(self.state_0, indices=indices)
Expand Down
53 changes: 14 additions & 39 deletions newton/examples/example_selection_humanoid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ def __init__(self, stage_path=None, num_envs=8):
# ===========================================================
# create articulation view
# ===========================================================
self.humanoids = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=False)
self.humanoids = ArticulationView(self.model, "/World/envs/*/Robot/torso")

print(f"articulation count: {self.humanoids.count}")
print(f"link_count: {self.humanoids.link_count}")
Expand All @@ -97,28 +97,14 @@ def __init__(self, stage_path=None, num_envs=8):
# dof_limit_upper = wp.to_torch(self.humanoids.get_attribute("joint_limit_upper", self.model))
# default_dof_transforms = 0.5 * (dof_limit_lower + dof_limit_upper)

if self.humanoids.include_free_joint:
# combined root and dof transforms
self.default_transforms = wp.to_torch(self.humanoids.get_attribute("joint_q", self.model)).clone()
self.default_transforms[:, 2] = 1.5 # z-coordinate of articulation root
# self.default_transforms[:, 7:] = default_dof_transforms
# combined root and dof velocities
self.default_velocities = wp.to_torch(self.humanoids.get_attribute("joint_qd", self.model)).clone()
# self.default_velocities[:, 2] = 1.0 * math.pi # rotate about z-axis
# self.default_velocities[:, 5] = 5.0 # move up z-axis
else:
# root transforms
self.default_root_transforms = wp.to_torch(self.humanoids.get_root_transforms(self.model)).clone()
self.default_root_transforms[:, 2] = 1.5
# dof transforms
# self.default_dof_transforms = default_dof_transforms
self.default_dof_transforms = wp.to_torch(self.humanoids.get_attribute("joint_q", self.model)).clone()
# root velocities
self.default_root_velocities = wp.to_torch(self.humanoids.get_root_velocities(self.model)).clone()
# self.default_root_velocities[:, 2] = 1.0 * math.pi # rotate about z-axis
# self.default_root_velocities[:, 5] = 5.0 # move up z-axis
# dof velocities
self.default_dof_velocities = wp.to_torch(self.humanoids.get_attribute("joint_qd", self.model)).clone()
# combined root and dof transforms
self.default_transforms = wp.to_torch(self.humanoids.get_attribute("joint_q", self.model)).clone()
self.default_transforms[:, 2] = 1.5 # z-coordinate of articulation root
# self.default_transforms[:, 7:] = default_dof_transforms
# combined root and dof velocities
self.default_velocities = wp.to_torch(self.humanoids.get_attribute("joint_qd", self.model)).clone()
# self.default_velocities[:, 2] = 1.0 * math.pi # rotate about z-axis
# self.default_velocities[:, 5] = 5.0 # move up z-axis

# create disjoint index groups to alternate between
all_indices = torch.arange(num_envs, dtype=torch.int32)
Expand Down Expand Up @@ -155,10 +141,9 @@ def step(self):
# =========================
# apply random controls
# =========================
joint_forces = 20.0 - 40.0 * torch.rand((self.num_envs, self.humanoids.joint_dof_count))
if self.humanoids.include_free_joint:
# include the leading root joint (pad with zeros)
joint_forces = torch.cat([torch.zeros((self.num_envs, 6)), joint_forces], axis=1)
joint_forces = wp.to_torch(self.humanoids.get_attribute("joint_f", self.control))
# skip the free joint
joint_forces[:, 6:] = 20.0 - 40.0 * torch.rand((self.num_envs, self.humanoids.joint_axis_count))
self.humanoids.set_attribute("joint_f", self.control, joint_forces)

with wp.ScopedTimer("step", active=False):
Expand All @@ -172,18 +157,8 @@ def reset(self, indices=None):
# ==============================
# set transforms and velocities
# ==============================
if self.humanoids.include_free_joint:
# set root and dof transforms together
self.humanoids.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices)
# set root and dof velocities together
self.humanoids.set_attribute("joint_qd", self.state_0, self.default_velocities, indices=indices)
else:
# set root and dof transforms separately
self.humanoids.set_root_transforms(self.state_0, self.default_root_transforms, indices=indices)
self.humanoids.set_attribute("joint_q", self.state_0, self.default_dof_transforms, indices=indices)
# set root and dof velocities separately
self.humanoids.set_root_velocities(self.state_0, self.default_root_velocities, indices=indices)
self.humanoids.set_attribute("joint_qd", self.state_0, self.default_dof_velocities, indices=indices)
self.humanoids.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices)
self.humanoids.set_attribute("joint_qd", self.state_0, self.default_velocities, indices=indices)

if not isinstance(self.solver, newton.solvers.MuJoCoSolver):
self.humanoids.eval_fk(self.state_0, indices=indices)
Expand Down
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