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Tune qpos-only robot drive dynamics #577

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21 changes: 21 additions & 0 deletions agent_context/topics/robot-system/robot-system.md
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,27 @@ control_parts = {

When using a dict, keys are joint names or regex patterns matching joint names. Control-part names can also be used as keys (resolved via `ArticulationCfg` logic).

### qpos-only tracking-qualified defaults

`scripts/benchmark/robotics/robot_trajectory_tracking.py` is the regression
entry point for the maintained Franka Panda, UR10e, CobotMagic, and DexForce
W1 presets. Its default mode writes only qpos targets at 60 Hz with a 240 Hz
physics step; it records that no qvel target was written. The qualified
configuration changes are intentionally narrow:

| Robot | Qualified joint group | Default adjustment |
|---|---|---|
| Franka Panda | Arm / fingers | Damping `1e2` / `2e1` |
| UR10e | Arm | Damping `1e2`; other UR variants retain `1e3` until separately qualified |
| CobotMagic | Both grippers | Stiffness `1e3`, damping `2e1`; arm defaults unchanged |
| DexForce W1 | Arms + head / default hands | Damping `1e2`; hand stiffness/damping `1e3` / `2e1`; body defaults unchanged |

The benchmark audits source URDF inertia as well as loaded mass. Missing
inertia currently belongs to fixed/reference frames such as tool TCP, base
connectors, and mounting offsets. Do not invent mass or inertia for those
frames merely to clear the audit; change physical asset data only with a
validated source.

## Adding a New Robot

Full guide: `docs/source/tutorial/add_robot.rst` · Quick reference: `docs/source/guides/add_robot.rst`
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8 changes: 4 additions & 4 deletions embodichain/lab/sim/robots/cobotmagic.py
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Expand Up @@ -128,14 +128,14 @@ def _build_defaults(self, init_dict: dict | None = None) -> None:
stiffness={
"left_joint[1-6]": 7e4,
"right_joint[1-6]": 7e4,
"left_joint[7-8]": 3e2,
"right_joint[7-8]": 3e2,
"left_joint[7-8]": 1e3,
"right_joint[7-8]": 1e3,
},
damping={
"left_joint[1-6]": 1e3,
"right_joint[1-6]": 1e3,
"left_joint[7-8]": 3e1,
"right_joint[7-8]": 3e1,
"left_joint[7-8]": 2e1,
"right_joint[7-8]": 2e1,
},
max_effort={
"left_joint[1-6]": 3e6,
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6 changes: 3 additions & 3 deletions embodichain/lab/sim/robots/dexforce_w1/cfg.py
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Expand Up @@ -251,8 +251,8 @@ def _build_default_physics_cfgs(
Dictionary containing physics configuration parameters
"""
DEFAULT_EEF_JOINT_DRIVE_PARAMS = {
"stiffness": 1e2,
"damping": 1e1,
"stiffness": 1e3,
"damping": 2e1,
"max_effort": 1e3,
}

Expand All @@ -269,7 +269,7 @@ def _build_default_physics_cfgs(
BODY_JOINTS: 1e7,
HEAD_JOINTS: 1e4,
},
"damping": {ARM_JOINTS: 1e3, BODY_JOINTS: 1e4, HEAD_JOINTS: 1e3},
"damping": {ARM_JOINTS: 1e2, BODY_JOINTS: 1e4, HEAD_JOINTS: 1e2},
"max_effort": {ARM_JOINTS: 1e5, BODY_JOINTS: 1e10, HEAD_JOINTS: 1e5},
}
drive_pros = JointDrivePropertiesCfg(**joint_params)
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4 changes: 2 additions & 2 deletions embodichain/lab/sim/robots/franka_panda.py
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Expand Up @@ -147,8 +147,8 @@ def _build_defaults(self, init_dict: dict | None = None) -> None:
"fr3_finger_joint[1-2]": 1e3,
},
damping={
"fr3_joint[1-7]": 1e3,
"fr3_finger_joint[1-2]": 1e2,
"fr3_joint[1-7]": 1e2,
"fr3_finger_joint[1-2]": 2e1,
},
max_effort={
"fr3_joint[1-7]": 1e5,
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13 changes: 12 additions & 1 deletion embodichain/lab/sim/robots/ur_robot.py
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Expand Up @@ -57,6 +57,17 @@
"ur10e": 330.0,
}

# The qpos-only 60 Hz tracking qualification covers UR10e. Keep the established
# damping for other UR variants until they receive the same qualification.
_UR_DEFAULT_DAMPING: Dict[str, float] = {
"ur3": 1e3,
"ur3e": 1e3,
"ur5": 1e3,
"ur5e": 1e3,
"ur10": 1e3,
"ur10e": 1e2,
}


@configclass
class URRobotCfg(RobotCfg):
Expand Down Expand Up @@ -141,7 +152,7 @@ def _build_defaults(self, init_dict: dict | None = None) -> None:

self.drive_pros = JointDrivePropertiesCfg(
stiffness={"arm": 1e4},
damping={"arm": 1e3},
damping={"arm": _UR_DEFAULT_DAMPING[robot_type]},
max_effort={"arm": _UR_MAX_EFFORT[robot_type]},
)

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