Adds support for Kangaroo robot

examples/random_pose_visualizer.py

@@ -41,9 +41,9 @@
 parser.add_argument(
     "--robot",
     type=str,
-    choices=["g1", "rigv1", "smpl"],
+    choices=["g1", "rigv1", "smpl", "kangaroo"],
     default="g1",
-    help="Robot to load (g1, rigv1, or smpl)",
+    help="Robot to load (g1, rigv1, smpl, or kangaroo)",
 )
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments")
 parser.add_argument("--headless", action="store_true", help="Run in headless mode")
@@ -95,6 +95,16 @@ class RobotSpec:
             "right_ankle_roll_link",
         ],
     ),
+    "kangaroo": RobotSpec(
+        viz_bodies=[
+            "base_link",
+            "pelvis_2_link",
+            "leg_left_knee_link",
+            "leg_right_knee_link",
+            "leg_left_5_link",
+            "leg_right_5_link",
+        ],
+    ),
     "rigv1": RobotSpec(
         viz_bodies=["Hips", "Spine2", "LeftLeg", "RightLeg", "LeftFoot", "RightFoot"],
     ),
@@ -202,10 +212,10 @@ def _gen_random_pose(self):
 
         print("Generating new random pose")
 
-        dof_limits_lower = self.robot_config.kinematic_info.dof_limits_lower.to(
+        dof_limits_lower = self.robot_cfg.kinematic_info.dof_limits_lower.to(
             self.device
         )
-        dof_limits_upper = self.robot_config.kinematic_info.dof_limits_upper.to(
+        dof_limits_upper = self.robot_cfg.kinematic_info.dof_limits_upper.to(
             self.device
         )
         print("dof_limits_lower=", dof_limits_lower)

protomotions/robot_configs/factory.py

@@ -53,6 +53,10 @@ def robot_config(robot_name: str, **updates) -> RobotConfig:
         from protomotions.robot_configs.rigv1 import Rigv1RobotConfig
 
         config = Rigv1RobotConfig()
+    elif robot_name == "kangaroo":
+        from protomotions.robot_configs.kangaroo import KangarooRobotConfig
+
+        config = KangarooRobotConfig()
     else:
         raise ValueError(f"Invalid robot name: {robot_name}")
 

protomotions/robot_configs/kangaroo.py

@@ -0,0 +1,187 @@
+from protomotions.robot_configs.base import (
+    RobotConfig,
+    RobotAssetConfig,
+    ControlConfig,
+    ControlType,
+    SimulatorParams,
+)
+from protomotions.simulator.isaacgym.config import (
+    IsaacGymSimParams,
+    IsaacGymPhysXParams,
+)
+from protomotions.simulator.isaaclab.config import (
+    IsaacLabSimParams,
+    IsaacLabPhysXParams,
+)
+from protomotions.simulator.genesis.config import GenesisSimParams
+from protomotions.simulator.newton.config import NewtonSimParams
+from protomotions.components.pose_lib import ControlInfo
+from typing import List, Dict
+from dataclasses import dataclass, field
+
+
+# Updated constants based on PAL Robotics KANGAROO specifications
+NATURAL_FREQ = 10 * 2.0 * 3.1415926535  # 10Hz
+DAMPING_RATIO = 2.0
+
+# Armature values calculated from (Factor * Inertia * Gear_Ratio^2)
+ARMATURE_S_PLUS = 0.01265   # For Arm 1,2 and Pelvis 1,2
+ARMATURE_S_MINUS = 0.00663  # For Arm 3,4
+ARMATURE_LEGS = 0.01        # Leg armature (assumed as it's a simple model with non linear transmission)
+
+# Stiffness/Damping for Arms & Pelvis (armature * NATURAL_FREQ^2 and 2.0 * DAMPING_RATIO * armature * NATURAL_FREQ)
+STIFFNESS_S_PLUS = 49.94
+DAMPING_S_PLUS = 3.179
+
+STIFFNESS_S_MINUS = 26.177
+DAMPING_S_MINUS = 1.666
+
+# Leg-specific logic (_calc_leg_params)
+def get_leg_damping(stiffness):
+    return round(2.0 * DAMPING_RATIO * stiffness / NATURAL_FREQ, 3)
+
+
+@dataclass
+class KangarooRobotConfig(RobotConfig):
+    common_naming_to_robot_body_names: Dict[str, List[str]] = field(
+        default_factory=lambda: {
+            "all_left_foot_bodies": ["leg_left_foot_link"],
+            "all_right_foot_bodies": ["leg_right_foot_link"],
+            "all_left_hand_bodies": ["ee_left_dummy_link"],
+            "all_right_hand_bodies": ["ee_right_dummy_link"],
+            "head_body_name": ["head_dummy_link"],
+            "torso_body_name": ["pelvis_2_link"],
+        }
+    )
+
+    trackable_bodies_subset: List[str] = field(
+        default_factory=lambda: [
+            "pelvis_2_link",
+            "head_dummy_link",
+            "leg_right_foot_link",
+            "leg_left_foot_link",
+            "ee_left_dummy_link",
+            "ee_right_dummy_link",
+        ]
+    )
+
+    default_root_height: float = 0.9
+
+    # TODO: add initial joint positions?
+
+    asset: RobotAssetConfig = field(
+        default_factory=lambda: RobotAssetConfig(
+            asset_file_name="mjcf/kangaroo.xml",
+            replace_cylinder_with_capsule=True,
+            thickness=0.01,
+            max_angular_velocity=1000.0,
+            max_linear_velocity=1000.0,
+            density=0.001,
+            angular_damping=0.0,
+            linear_damping=0.0,
+        )
+    )
+
+    control: ControlConfig = field(
+        default_factory=lambda: ControlConfig(
+            control_type=ControlType.BUILT_IN_PD,
+            override_control_info={
+                # Pelvis / Torso (S_PLUS)
+                "pelvis_[12]_joint": ControlInfo(
+                    stiffness=STIFFNESS_S_PLUS,
+                    damping=DAMPING_S_PLUS,
+                    effort_limit=50.0,
+                    velocity_limit=3.14,
+                    armature=ARMATURE_S_PLUS,
+                ),
+                # Legs 1, 2, 3 (Stiffness 100)
+                "leg_.*_[123]_joint": ControlInfo(
+                    stiffness=100.0,
+                    damping=get_leg_damping(100.0),
+                    effort_limit=230.0, # Using max of the group for safety or specific per joint
+                    velocity_limit=3.87,
+                    armature=ARMATURE_LEGS,
+                ),
+                # Legs 4, 5 (Stiffness 30)
+                "leg_.*_[45]_joint": ControlInfo(
+                    stiffness=30.0,
+                    damping=get_leg_damping(30.0),
+                    effort_limit=140.0,
+                    velocity_limit=3.87,
+                    armature=ARMATURE_LEGS,
+                ),
+                # Leg Length
+                "leg_.*_length_joint": ControlInfo(
+                    stiffness=1600.0,
+                    damping=get_leg_damping(1600.0),
+                    effort_limit=1100.0,
+                    velocity_limit=10.0,
+                    armature=ARMATURE_LEGS,
+                ),
+                # Arm 1, 2 (S_PLUS)
+                "arm_.*_[12]_joint": ControlInfo(
+                    stiffness=STIFFNESS_S_PLUS,
+                    damping=DAMPING_S_PLUS,
+                    effort_limit=50.0,
+                    velocity_limit=1.95,
+                    armature=ARMATURE_S_PLUS,
+                ),
+                # Arm 3, 4 (S_MINUS)
+                "arm_.*_[34]_joint": ControlInfo(
+                    stiffness=STIFFNESS_S_MINUS,
+                    damping=DAMPING_S_MINUS,
+                    effort_limit=25.0,
+                    velocity_limit=3.25,
+                    armature=ARMATURE_S_MINUS,
+                ),
+                # Passive leg joints (closed kinematic chain)
+                "leg_.*_femur_joint": ControlInfo(
+                    stiffness=0.0,
+                    damping=0.0,
+                    effort_limit=None,
+                    velocity_limit=None,
+                    armature=0.01,
+                ),
+                "leg_.*_knee_joint": ControlInfo(
+                    stiffness=0.0,
+                    damping=0.0,
+                    effort_limit=None,
+                    velocity_limit=None,
+                    armature=0.01,
+                ),
+            }
+        )
+    )
+
+    simulation_params: SimulatorParams = field(
+        default_factory=lambda: SimulatorParams(
+            isaacgym=IsaacGymSimParams(
+                fps=100,
+                decimation=2,
+                substeps=2,
+                physx=IsaacGymPhysXParams(
+                    num_position_iterations=8,
+                    num_velocity_iterations=4,
+                    max_depenetration_velocity=1,
+                ),
+            ),
+            isaaclab=IsaacLabSimParams(
+                fps=200,
+                decimation=4,
+                physx=IsaacLabPhysXParams(
+                    num_position_iterations=8,
+                    num_velocity_iterations=4,
+                    max_depenetration_velocity=1,
+                ),
+            ),
+            genesis=GenesisSimParams(
+                fps=100,
+                decimation=2,
+                substeps=2,
+            ),
+            newton=NewtonSimParams(
+                fps=200, # TODO: verify if in newton similarly to mujoco solref >= 2*dt 
+                decimation=4,
+            ),
+        )
+    )