feat: faster & standardised object construction

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "ros/newton_ros"]
+	path = ros/pkgs/newton_ros
+	url = https://github.com/TheNewtonCapstone/newton-ros
+[submodule "ros/newton_sim_ros"]
+	path = ros/pkgs/newton_sim_ros
+	url = https://github.com/TheNewtonCapstone/newton-sim-ros

configs/robots/newton.yaml

@@ -3,31 +3,73 @@ robot_type: quadruped
 
 # Kinematics
 joints:
-  limits:
-    positions:
-      FR_HAA: [-45, 45]
+  gear_ratios:
+    FL_HAA: 9
+    FR_HAA: 9
+    HL_HAA: 9
+    HR_HAA: 9
+    FL_HFE: 9
+    FR_HFE: 9
+    HL_HFE: 9
+    HR_HFE: 9
+    FL_KFE: 9
+    FR_KFE: 9
+    HL_KFE: 9
+    HR_KFE: 9
+
+  effort_saturation: # of the input (i.e. the motor; before applying any gear ratio)
+    FL_HAA: 0.4
+    FR_HAA: 0.4
+    HL_HAA: 0.4
+    HR_HAA: 0.4
+    FL_HFE: 0.4
+    FR_HFE: 0.4
+    HL_HFE: 0.4
+    HR_HFE: 0.4
+    FL_KFE: 0.4
+    FR_KFE: 0.4
+    HL_KFE: 0.4
+    HR_KFE: 0.4
+
+  limits: # of the output (i.e. the joint itself, after applying any gear ratio)
+    positions: # deg
       FL_HAA: [-45, 45]
-      HR_HAA: [-45, 45]
+      FR_HAA: [-45, 45]
       HL_HAA: [-45, 45]
-      FR_HFE: [-90, 90]
-      HR_HFE: [-90, 90]
+      HR_HAA: [-45, 45]
       FL_HFE: [-90, 90]
+      FR_HFE: [-90, 90]
       HL_HFE: [-90, 90]
-      FR_KFE: [-175, 175]
+      HR_HFE: [-90, 90]
       FL_KFE: [-175, 175]
-      HR_KFE: [-175, 175]
+      FR_KFE: [-175, 175]
       HL_KFE: [-175, 175]
+      HR_KFE: [-175, 175]
+
+    velocities: # deg/s
+      FL_HAA: 5440
+      FR_HAA: 5440
+      HL_HAA: 5440
+      HR_HAA: 5440
+      FL_HFE: 5440
+      FR_HFE: 5440
+      HL_HFE: 5440
+      HR_HFE: 5440
+      FL_KFE: 5440
+      FR_KFE: 5440
+      HL_KFE: 5440
+      HR_KFE: 5440
 
-    velocities:
-      FR_HAA: 8000
-      FL_HAA: 8000
-      HR_HAA: 8000
-      HL_HAA: 8000
-      FR_HFE: 8000
-      HR_HFE: 8000
-      FL_HFE: 8000
-      HL_HFE: 8000
-      FR_KFE: 8000
-      FL_KFE: 8000
-      HR_KFE: 8000
-      HL_KFE: 8000
+    efforts: # Nm
+      FL_HAA: 6.3
+      FR_HAA: 6.3
+      HL_HAA: 6.3
+      HR_HAA: 6.3
+      FL_HFE: 6.3
+      FR_HFE: 6.3
+      HL_HFE: 6.3
+      HR_HFE: 6.3
+      FL_KFE: 6.3
+      FR_KFE: 6.3
+      HL_KFE: 6.3
+      HR_KFE: 6.3

configs/ros.yaml

@@ -0,0 +1,42 @@
+enabled: true
+namespace: sim
+domain_id: 25
+
+defaults:
+  qos:
+    history: 0 # 0: system default, 1: keep last, 2: keep all, 3: unknown
+    depth: 5 # number of samples in history
+    reliability: 0 # 0: system default, 1: reliable, 2: best effort, 3: unknown
+    durability: 0 # 0: system default, 1: transient_local, 2: volatile, 3: unknown
+    lifespan:
+      seconds: 0
+      nanoseconds: 0
+    deadline:
+      seconds: 0
+      nanoseconds: 0
+    liveliness: 0 # 0: system default, 1: automatic, 2: manual_by_topic, 3: unknown
+    liveliness_lease_duration:
+      seconds: 0
+      nanoseconds: 0
+
+nodes:
+  imu:
+    name: imu_node
+    pub_sim_topic: /sim/imu
+    pub_real_topic: /imu
+    pub_period: 5
+    pub_qos: None
+
+  contact:
+    name: contact_node
+    pub_sim_topic: /sim/contact
+    pub_real_topic: /contact
+    pub_period: 10
+    pub_qos: None
+
+  joints_controller:
+    name: joints_controller_node
+    pub_sim_topic: /sim/joints
+    pub_real_topic: /joints
+    pub_period: 5
+    pub_qos: None

configs/tasks/newton_idle_task.yaml

@@ -9,6 +9,7 @@ base_lr: 3e-6
 episode_length: 500
 
 newton:
+# TODO: Remove inverse_control_frequency as a task parameter
   inverse_control_frequency: 4  # we're aiming for a total compute budget of 2 times the physics timestep (0.005s * 4 = 0.02s)
 
   # TODO: Add gains as a configuration parameter

configs/world.yaml

@@ -1,6 +1,9 @@
 physics_dt: 0.005000
-stage_units_in_meters: 1.0
+# TODO: Fully implement control_dt functionality across all systems
+#   The idea is to have everything inside of the Universe object, so it's more easily accessed from one place
+control_dt: 0.020000
 rendering_dt: 0.01667
+stage_units_in_meters: 1.0
 backend: torch
 device: cuda
 

core/actuators/__init__.py

@@ -0,0 +1,2 @@
+from .base_actuator import BaseActuator
+from .dc_actuator import DCActuator

core/actuators/base_actuator.py

@@ -0,0 +1,104 @@
+from abc import abstractmethod
+
+import torch
+
+from ..base import BaseObject
+from ..types import (
+    VecJointsEfforts,
+    VecJointsPositions,
+    VecJointsVelocities,
+    VecJointEffortLimits,
+    VecJointVelocityLimits,
+    VecJointGearRatios,
+)
+from ..universe import Universe
+
+
+class BaseActuator(BaseObject):
+    def __init__(
+        self,
+        universe: Universe,
+    ):
+        super().__init__(universe=universe)
+
+        self._vec_velocity_limits: VecJointVelocityLimits = torch.zeros(
+            (0,),
+            device=self._universe.device,
+        )
+        self._vec_effort_limits: VecJointEffortLimits = torch.zeros_like(
+            self._vec_velocity_limits,
+        )
+
+        self._vec_gear_ratios: VecJointGearRatios = torch.zeros_like(
+            self._vec_velocity_limits,
+        )
+
+        self._target_positions: VecJointsPositions = torch.zeros(
+            (0,),
+            device=self._universe.device,
+        )
+        self._computed_output_efforts: VecJointsEfforts = torch.zeros_like(
+            self._target_positions,
+        )
+        self._applied_output_efforts: VecJointsEfforts = torch.zeros_like(
+            self._target_positions,
+        )
+
+    @property
+    def computed_output_efforts(self) -> VecJointsEfforts:
+        """Returns computed efforts, after any clamping, saturation, etc. and, most importantly, after the gear ratio."""
+        assert (
+            self.is_fully_constructed
+        ), "Actuator not fully constructed: tried to access computed efforts!"
+
+        return self._computed_output_efforts
+
+    @property
+    def applied_output_efforts(self) -> VecJointsEfforts:
+        """Returns applied efforts, after any clamping, saturation, etc. and, most importantly, after the gear ratio."""
+        assert (
+            self.is_fully_constructed
+        ), "Actuator not fully constructed: tried to access applied efforts!"
+
+        return self._applied_output_efforts
+
+    @abstractmethod
+    def construct(
+        self,
+        input_vec_velocity_limits: VecJointVelocityLimits,
+        input_vec_effort_limits: VecJointEffortLimits,
+        vec_gear_ratios: VecJointVelocityLimits,
+    ) -> None:
+        super().construct()
+
+        # limits are given of the input
+        self._vec_velocity_limits = input_vec_velocity_limits
+        self._vec_effort_limits = input_vec_effort_limits
+
+        self._vec_gear_ratios = vec_gear_ratios
+
+    @abstractmethod
+    def post_construct(self) -> None:
+        super().post_construct()
+
+    @abstractmethod
+    def step(
+        self,
+        output_current_positions: VecJointsPositions,
+        output_target_positions: VecJointsPositions,
+        output_current_velocities: VecJointsVelocities,
+    ) -> VecJointsEfforts:
+        assert (
+            self.is_fully_constructed
+        ), "Actuator not fully constructed: tried to step!"
+
+        return self._applied_output_efforts
+
+    @abstractmethod
+    def reset(self) -> None:
+        assert (
+            self.is_fully_constructed
+        ), "Actuator not fully constructed: tried to reset!"
+
+        self._computed_output_efforts = torch.zeros_like(self._computed_output_efforts)
+        self._applied_output_efforts = torch.zeros_like(self._applied_output_efforts)