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Patch MuJoCo plugin #50

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evanvyktori merged 6 commits from ft-pre-post-substep-delegates into main 2025-04-30 14:22:04 +00:00
Conversation 1 Commits 6 Files Changed 9 +137 -31
jb-briant commented 2025-04-30 10:34:04 +00:00
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Mujoco Plugin

PostPhysicStep Delegate

  • Callback to be called after each mj_step iteration
  • Can be used to finely control actuators between mj_steps
  • C++ only

Contact Exclusion

  • Some bots need to exclude the contact computation between 2 bodies (e.g. SO 100)
  • This is quick and dirty, well commented though and it solve the SO problem
  • We need to remake that Pawn/Actor/MuJoCo Actor architecture, once we figure it out, we can save the contact a class property instead of dirty patching the xml passing TMap in 3 function arguments

Misc

  • Renamed the infamous FrameSkip variable for SimStepsPerGameFrame, still feel it's not the perfect name if you have suggestions
  • Slight reorganisation of the MujocoActor header -> feel free to roast it

SO100 in kitchen level

  • Fixed in the kitchen level, this will be used for the first data training
  • Working values for range / kp / etc...
  • Need Anuj input to set REAL-WORLD values
  • Removed the IK control, we will do direct actuators controls value setting for that first data training
# Mujoco Plugin ## PostPhysicStep Delegate - Callback to be called after each mj_step iteration - Can be used to finely control actuators between mj_steps - C++ only ## Contact Exclusion - Some bots need to exclude the contact computation between 2 bodies (e.g. SO 100) - This is quick and dirty, well commented though and it solve the SO problem - We need to remake that Pawn/Actor/MuJoCo Actor architecture, once we figure it out, we can save the contact a class property instead of dirty patching the xml passing TMap in 3 function arguments ## Misc - Renamed the infamous `FrameSkip` variable for `SimStepsPerGameFrame`, still feel it's not the perfect name if you have suggestions - Slight reorganisation of the MujocoActor header -> feel free to roast it --- # SO100 in kitchen level - Fixed in the kitchen level, this will be used for the first data training - Working values for range / kp / etc... - Need Anuj input to set REAL-WORLD values - Removed the IK control, we will do direct actuators controls value setting for that first data training
jb-briant added 6 commits 2025-04-30 10:34:04 +00:00 
+ Can be used to finely control actuators between mj_steps
+ be careful, this is not const!
+ This feature was missing from the plugin while being necessary for robots to work
+ e.g. SO100 requires the main body and the first arm to have contact exclusion, I guess the piece are too tight in the model?
+ This is not clean, but making it right requires to have a better understanding of how the MuJoCo actor works - problem for future self
+ I don't want to commit 10 blueprints because we can't put empty map as default values in BP nodes
+ Rotation values are better
+ changed Kp value back to 300 like Pitch
+ Added Contact exclusion rule
+ Fixed Range for body and control
+ Restore proper delta values
jb-briant force-pushed ft-pre-post-substep-delegates from e63695a453 to 59377bdd4f 2025-04-30 13:24:06 +00:00 Compare
evanvyktori requested review from evanvyktori 2025-04-30 14:17:36 +00:00
evanvyktori approved these changes 2025-04-30 14:20:59 +00:00
evanvyktori merged commit 7d383871b8 into main 2025-04-30 14:22:04 +00:00
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Reference: LuckyRobots/LuckyWorldV2#50
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