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sim2sim for stompymicro #129

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f6b1765
the machines are learning
Oct 7, 2024
c510546
renamed micro walking
Oct 7, 2024
175a802
Merge branch 'Zeroth-Robotics:master' into micro-walking
advait-patel-17 Oct 12, 2024
6de4fd8
Merge pull request #11 from advait-patel-17/micro-walking
jingxiangmo Oct 12, 2024
38b4f60
update download link
jingxiangmo Oct 12, 2024
796135d
fix asset download
nathanjzhao Oct 12, 2024
e869378
mesh fix
nathanjzhao Oct 12, 2024
87d9264
Merge branch 'master' into small-fix
jingxiangmo Oct 12, 2024
be8aac4
Merge pull request #15 from nathanjzhao/small-fix
jingxiangmo Oct 12, 2024
61d21f2
model dir fix
nathanjzhao Oct 12, 2024
15541c2
Merge pull request #16 from nathanjzhao/model-dir
jingxiangmo Oct 12, 2024
85e9dc9
changes
nathanjzhao Oct 13, 2024
a06d13c
Merge branch 'master' into model-dir
jingxiangmo Oct 13, 2024
c4e3d12
Merge pull request #17 from nathanjzhao/model-dir
jingxiangmo Oct 13, 2024
f083cf9
urdf for V0.3.1
jingxiangmo Oct 13, 2024
8df4aa7
add joints back in
jingxiangmo Oct 13, 2024
2978b88
nil
jingxiangmo Oct 13, 2024
890ff47
match joint limits
jingxiangmo Oct 13, 2024
4049eb1
added feet joints to config
Oct 13, 2024
ec243c4
added feet joints to config
Oct 13, 2024
75c1000
fixed robot height
Oct 13, 2024
49166b7
added walking policies
Oct 13, 2024
b3bbfae
Merge pull request #19 from advait-patel-17/V0.3.1
jingxiangmo Oct 13, 2024
b328c91
Updated file names
jingxiangmo Oct 13, 2024
64bc93d
update joint config
jingxiangmo Oct 14, 2024
550ae09
fixed default_joing_pos
jingxiangmo Oct 14, 2024
d1ffdc5
change only_positive_reward from False to True
jingxiangmo Oct 14, 2024
ee5042a
fixed arms default position
jingxiangmo Oct 14, 2024
4319e8a
fix torso
budzianowski Oct 14, 2024
35b55e0
push the policy
budzianowski Oct 14, 2024
a5019c1
longer training
budzianowski Oct 14, 2024
6b31e13
Merge pull request #18 from Zeroth-Robotics/V0.3.1
jingxiangmo Oct 15, 2024
fd76625
Merge branch 'kscalelabs:master' into master
jingxiangmo Oct 18, 2024
1d513ff
updated joint
budzianowski Oct 22, 2024
ee51734
add more noise to the base
budzianowski Oct 22, 2024
4c8a1c3
save policy
budzianowski Oct 23, 2024
df5cddb
pasta fix
budzianowski Oct 23, 2024
ba17a3f
Merge branch 'master' of https://github.com/kscalelabs/sim into new_s…
budzianowski Oct 23, 2024
dd999f0
Merge pull request #20 from Zeroth-Robotics/new_standing
budzianowski Oct 23, 2024
ab4f607
Merge branch 'master' of https://github.com/kscalelabs/sim
budzianowski Oct 23, 2024
1ca5a1a
Merge branch 'master' of https://github.com/kscalelabs/sim
budzianowski Oct 24, 2024
8791fc4
Merge branch 'master' of https://github.com/kscalelabs/sim
budzianowski Oct 25, 2024
5dc6b67
save setup
budzianowski Oct 28, 2024
4291047
add new position
budzianowski Oct 28, 2024
9a526a2
stable walking
budzianowski Oct 28, 2024
6c11824
reducing speed requirement
budzianowski Oct 28, 2024
4b269c0
current setup behaves weirdly
budzianowski Oct 28, 2024
6114c70
too conservative
budzianowski Oct 29, 2024
cf08a92
gait is proper but the step can be bigger
budzianowski Oct 29, 2024
327f501
goog looking gait
budzianowski Oct 30, 2024
0beef36
standing setup
budzianowski Oct 30, 2024
6215b7e
add more noise
budzianowski Oct 30, 2024
5f44dfa
push policies
budzianowski Oct 30, 2024
45afa19
adjust height
budzianowski Oct 30, 2024
33b0553
Merge branch 'update_micro' of https://github.com/kscalelabs/sim
budzianowski Oct 30, 2024
43c5baa
updated urdf
jingxiangmo Nov 2, 2024
aeb00e0
update joints.pp
jingxiangmo Nov 2, 2024
9be6582
updates
budzianowski Nov 2, 2024
9f48296
Merge branch 'update-urdf' of github.com:Zeroth-Robotics/sim into upd…
budzianowski Nov 2, 2024
d7d856f
push policies
budzianowski Nov 2, 2024
4827e5a
Merge pull request #21 from Zeroth-Robotics/update-urdf
jingxiangmo Nov 2, 2024
2bc0a87
nit
henri123lemoine Nov 9, 2024
e488ad2
Added opencv-python req
henri123lemoine Nov 9, 2024
f7d14e2
Generic changes
henri123lemoine Nov 9, 2024
f317907
Added example policy for experiment 1
henri123lemoine Nov 9, 2024
c5bdde5
Added mujoco and mujoco-python-viewer to deps
henri123lemoine Nov 9, 2024
37da40b
Set MODEL_DIR to sim/resources by default in sim2sim.py
henri123lemoine Nov 9, 2024
6b6fdf2
Increased decimation for 50hz policy
henri123lemoine Nov 9, 2024
1ded3c3
2nd exp: ++reward for feet clearance/speed/contact forces
henri123lemoine Nov 9, 2024
b24ba67
nit
henri123lemoine Nov 9, 2024
87e6c26
Refactored sim2sim.py to make parameter hill-climbing easier
henri123lemoine Nov 9, 2024
6ffc5e4
Added exp2 policy
henri123lemoine Nov 9, 2024
f095d2e
Added exp3 arms model checkpoint
henri123lemoine Nov 9, 2024
4d9f7ec
bug fix
henri123lemoine Nov 9, 2024
d38fa4a
Added sim2sim_helpers.py
henri123lemoine Nov 9, 2024
6f62402
nit
henri123lemoine Nov 10, 2024
b8f5253
Added arm movement
henri123lemoine Nov 10, 2024
b657ae1
Set higher clamp for feet air time
henri123lemoine Nov 10, 2024
79efaa9
Up-to-date large-step walker
henri123lemoine Nov 10, 2024
5b16cb6
exp 5
henri123lemoine Nov 10, 2024
f954339
removed code duplication & nit
henri123lemoine Nov 11, 2024
d5bb64c
exp 6 (in progress)
henri123lemoine Nov 11, 2024
b5472ea
removed duplicate fct
henri123lemoine Nov 11, 2024
e0f98b5
nit (make format)
henri123lemoine Nov 11, 2024
ee8b9bc
added more easily findable DEFAULT_COMMAND constant at top of file
henri123lemoine Nov 11, 2024
9ef08db
Added drawing of velocity arrows
henri123lemoine Nov 11, 2024
e45ac7a
Added command manager
henri123lemoine Nov 11, 2024
b87f7a1
Added draw_vector helper to helpers.py
henri123lemoine Nov 11, 2024
2c2bfcb
Cleanup of vector drawing (+make format)
henri123lemoine Nov 11, 2024
e5bff1e
nit
henri123lemoine Nov 11, 2024
f50edf4
minor refactor. Added random command, removed RENDER for headless arg…
henri123lemoine Nov 11, 2024
3843e4c
Merge pull request #24 from zeroth-robotics/cmd-arrow
henri123lemoine Nov 11, 2024
de0a5d5
Merge branch 'cmd-arrow' into henri/experiments
henri123lemoine Nov 11, 2024
13551f6
Added close method to cmd manager
henri123lemoine Nov 11, 2024
26f56d6
Activated arms by default
henri123lemoine Nov 11, 2024
122eb27
Added exp6 policy
henri123lemoine Nov 11, 2024
fb25f37
close cmd manager at end of play (and nit)
henri123lemoine Nov 11, 2024
3070d51
Added arms to robot_fixed.xml (todo: verify correctness)
henri123lemoine Nov 11, 2024
62ce52c
Added analyze_policy helper
henri123lemoine Nov 11, 2024
8446307
nit
henri123lemoine Nov 11, 2024
9ad287f
nit
henri123lemoine Nov 11, 2024
74cff90
More detailed printing for default sim2sim robot positions
henri123lemoine Nov 12, 2024
dcf7ffd
Constrained signficantly ctrlrange for xml robot
henri123lemoine Nov 12, 2024
7bca5f7
exp7 config
henri123lemoine Nov 12, 2024
79ca332
exp8 - added symmetry reward
henri123lemoine Nov 12, 2024
cc4e6c5
Cleaned up symmetry rewards
henri123lemoine Nov 12, 2024
aefb800
Merge remote-tracking branch 'upstream/master'
henri123lemoine Nov 12, 2024
6890e16
exp9?
henri123lemoine Nov 14, 2024
f6bdd66
Exp10/10.5 (with/without symmetry)
henri123lemoine Nov 15, 2024
df3bb80
Added angular momentum reward
henri123lemoine Nov 15, 2024
2603f6e
Edited comment with accurate joint number
henri123lemoine Nov 15, 2024
304ded1
nit
henri123lemoine Nov 16, 2024
72c79c5
Added hand distance reward and fixed minor feet_clearance reward issue
henri123lemoine Nov 16, 2024
eeb04d6
Reduced arm stiffness and damping
henri123lemoine Nov 16, 2024
564a24c
exp11
henri123lemoine Nov 16, 2024
088df48
Merge branch 'master' into henri/experiments
henri123lemoine Nov 16, 2024
53b8818
make format
henri123lemoine Nov 16, 2024
7c2c416
nit (possibly needs to be rolled back, currently functionally the same)
henri123lemoine Nov 19, 2024
0a96d57
Added args_parsing.py with args parsing helpers
henri123lemoine Nov 19, 2024
1a3858d
Switch to new args parsing and other minor changes (use of args.max_i…
henri123lemoine Nov 19, 2024
0a6afe6
Switched to improved parsing, added minor type info, fixed imports
henri123lemoine Nov 19, 2024
f62f116
Added train-specific args
henri123lemoine Nov 19, 2024
23eaf57
Exp12 (total failure)
henri123lemoine Nov 19, 2024
a1f0000
Reordered args in get_args (no longer used)
henri123lemoine Nov 19, 2024
2f9c24b
removed clashing requirements from requirements.txt
henri123lemoine Nov 19, 2024
291bb73
bool gymutil-related bug fix & minor arg fix for play.py
henri123lemoine Nov 19, 2024
3d8eeab
Added exp12.1 (wrong!!)
henri123lemoine Nov 20, 2024
82cac18
redoing exp8 (failure!)
henri123lemoine Nov 21, 2024
ac607d0
exp12.2 (failure)
henri123lemoine Nov 21, 2024
f812c6f
Fixed(?) command manager's update method
henri123lemoine Nov 21, 2024
3cbf63f
Removed no-arms option
henri123lemoine Nov 22, 2024
85996ca
Fixed path based on whether legs_only or not
henri123lemoine Nov 22, 2024
fd5d03f
Added markers and changed keyframe
henri123lemoine Nov 22, 2024
b1c3caa
nit
henri123lemoine Nov 23, 2024
df68da5
Rolled-back robot_fixed.xml
henri123lemoine Nov 23, 2024
51249ac
Updated robot.urdf and robot.xml for the stompymicro robot.
henri123lemoine Nov 23, 2024
8e3f78c
reverted robot_fixed.[urdf/xml] back to arm fixed
henri123lemoine Nov 24, 2024
22d4dc8
Fixed robot.xml with urdf2mjcf conversion script
henri123lemoine Nov 24, 2024
2cf6e1c
Added legs_only to stompymicro Robot
henri123lemoine Nov 24, 2024
a9f2bdb
nit & added prints to play.py
henri123lemoine Nov 25, 2024
250a56b
added some printing to env, set legs_only default to True
henri123lemoine Nov 28, 2024
efdc96c
Make format
henri123lemoine Nov 28, 2024
b17c057
nit
henri123lemoine Nov 28, 2024
aa747a0
Updated robot.xml
henri123lemoine Dec 1, 2024
0615e83
Added config saving on new training run
henri123lemoine Dec 2, 2024
570ce90
Updated sim2sim to match more legged envs (no change in behavior)
henri123lemoine Dec 4, 2024
8e90f01
Copied sim2sim to mujocoplays to restructure and try to match play.py…
henri123lemoine Dec 4, 2024
3aebf75
Added debug printing in play
henri123lemoine Dec 4, 2024
3ccff7d
Added xml path to stompymicro env
henri123lemoine Dec 4, 2024
c67bf63
Made joints backcompatible to legs_only envs
henri123lemoine Dec 4, 2024
df60331
nit
henri123lemoine Dec 4, 2024
627cc8c
Set matching effort and velocity values in urdf vs joints.py
henri123lemoine Dec 4, 2024
027862f
Added sensible default
henri123lemoine Dec 4, 2024
803bee3
import bug fix
henri123lemoine Dec 4, 2024
89d378e
Updated get_load_path to handle negative numbers (from PR)
henri123lemoine Dec 4, 2024
6cf0dbf
Avoiding list->tensor warning
henri123lemoine Dec 4, 2024
1914c80
tau to 10 (pawel recommendation)
henri123lemoine Dec 4, 2024
3c81fb3
nit & bug fix
henri123lemoine Dec 4, 2024
11c3240
Robust standing configs
henri123lemoine Dec 5, 2024
3810167
fixed import ordering in calibration_isaac.py
henri123lemoine Dec 5, 2024
9558559
Added debugging
henri123lemoine Dec 5, 2024
b2e262d
Added robust standing policy example
henri123lemoine Dec 6, 2024
131dab9
Added more detailed debugging and type to the Robot
henri123lemoine Dec 6, 2024
e5a5350
Added contact forces method to mujoco simulator (not working)
henri123lemoine Dec 6, 2024
3205647
Added ref state calculation (and nit restructuring and type hinting)
henri123lemoine Dec 6, 2024
525a9fa
Corrected numbers in stompymicro env
henri123lemoine Dec 6, 2024
57935e9
Fixed some actuatorfrcranges in robot.xml
henri123lemoine Dec 6, 2024
73b4c62
Added arms joints to stompymicro env
henri123lemoine Dec 6, 2024
be11350
exp ?? standing robust 00000 v2
henri123lemoine Dec 6, 2024
e8cdeb8
Added simplified versions of play.py, legged_robot.py, and stompymicr…
henri123lemoine Dec 7, 2024
bb664ef
Added debug env helper
henri123lemoine Dec 7, 2024
e8a9bdb
removed printing from play.py
henri123lemoine Dec 7, 2024
2559d36
Improved debugging
henri123lemoine Dec 8, 2024
137b0d5
nit
henri123lemoine Dec 8, 2024
73971e0
Added mujoco env
henri123lemoine Dec 8, 2024
5ee9292
nit
henri123lemoine Dec 8, 2024
1e76be5
Added debugging to simple play
henri123lemoine Dec 8, 2024
68d4b94
Added base env
henri123lemoine Dec 8, 2024
a908401
Added evolution.py
henri123lemoine Dec 8, 2024
bc7b129
Simplified mujoco config
henri123lemoine Dec 8, 2024
cc5de26
Added working mujoco sim2sim sim runner
henri123lemoine Dec 8, 2024
826f451
added init to sim2sim folder
henri123lemoine Dec 8, 2024
30a1c00
fixed model_export import to be absolute
henri123lemoine Dec 8, 2024
88dc755
Added robot to stompymicro config
henri123lemoine Dec 8, 2024
415de2d
moved evolution to optimizers/
henri123lemoine Dec 8, 2024
2aa181c
Added bayesian param optimizer
henri123lemoine Dec 8, 2024
cff7fc4
Added sim2sim helpers.py
henri123lemoine Dec 8, 2024
5465786
added missing import
henri123lemoine Dec 8, 2024
80728e4
nit
henri123lemoine Dec 8, 2024
802147d
Improved simulate_env function with actual policy
henri123lemoine Dec 8, 2024
ab91dd8
simplified further (to be deleted anyway)
henri123lemoine Dec 8, 2024
b96a95a
Moved sim_runner to sim2sim/mujoco
henri123lemoine Dec 8, 2024
1ec4407
Moved handle_keyboard_input helper
henri123lemoine Dec 8, 2024
1eef8a1
Restructured mujoco files (crimes committed)
henri123lemoine Dec 8, 2024
694c9c3
Removed simulate_env from mujoco_env (misplaced)
henri123lemoine Dec 8, 2024
3e2f610
updated bayesian optimizer to using run_simulation function
henri123lemoine Dec 8, 2024
1afc6b5
Added Dec8 training run
henri123lemoine Dec 8, 2024
d911070
Minor simplification of run_simulation
henri123lemoine Dec 8, 2024
3f4a20f
Set default joints to 0 for simplicity
henri123lemoine Dec 8, 2024
d129bfb
Added calibrate.py for running calibration experiments for sim2sim
henri123lemoine Dec 8, 2024
a04007c
Improved parameters for isaac->mujoco standing (~working (sometimes))
henri123lemoine Dec 8, 2024
8989a41
Improved kernel for bayesian opt and increased default optimization p…
henri123lemoine Dec 8, 2024
632c1e4
bug fix
henri123lemoine Dec 8, 2024
a80dd0d
nit
henri123lemoine Dec 8, 2024
645c874
Removed old sim2sim files and tmp simple-d files
henri123lemoine Dec 8, 2024
f1be9ad
Removed cmd manager from simple_play.py
henri123lemoine Dec 9, 2024
14a7049
Added render method and added clarification on compute rewards
henri123lemoine Dec 9, 2024
fd27d99
nit
henri123lemoine Dec 9, 2024
ee628b0
make format
henri123lemoine Dec 9, 2024
3ab67bf
removed stompymicro_standing
henri123lemoine Dec 9, 2024
2f09ab8
Added robustv1 example policy (smooth and handles strong pushes)
henri123lemoine Dec 9, 2024
f519316
Added coplay.py
henri123lemoine Dec 9, 2024
1adddd8
Added robot_calibration.xml
henri123lemoine Dec 9, 2024
70b8beb
added mujoco policy testing
henri123lemoine Dec 9, 2024
0b4c913
Added printing
henri123lemoine Dec 9, 2024
f13927d
nit
henri123lemoine Dec 10, 2024
f73a5da
modified use of run_simulation due to added functionality
henri123lemoine Dec 10, 2024
cfea61e
Corrected minor issues in xml
henri123lemoine Dec 10, 2024
5c3ad10
Extracted hidden code from task_registry into simple_play.py
henri123lemoine Dec 10, 2024
0089699
Simplified simple_play further
henri123lemoine Dec 10, 2024
116a7c8
Added StandingRobustFinal config and joints
henri123lemoine Dec 10, 2024
b6717f2
Simplified coplay.py
henri123lemoine Dec 10, 2024
19b66c0
optionalized isaac
henri123lemoine Dec 10, 2024
50cd321
moved torch import
henri123lemoine Dec 10, 2024
35ad9cf
Increased height to avoid risks of appearing in the ground
henri123lemoine Dec 10, 2024
5b9452e
added back simplified version of old mujoco (for testing, among other…
henri123lemoine Dec 10, 2024
1cf4bc6
Implemented multi-run and added scale experiments
henri123lemoine Dec 10, 2024
7f69917
Removed tau_factor as calibration parameter
henri123lemoine Dec 10, 2024
9bd397d
updated tests.py
henri123lemoine Dec 10, 2024
ead4ad9
Updated mujoco env to match isaac gym envs more
henri123lemoine Dec 11, 2024
3075256
Modified mujoco_env to match stompymicro more
henri123lemoine Dec 11, 2024
9268171
Reordering indices (still doesn't work!)
henri123lemoine Dec 11, 2024
6fd29c9
Simplifed robot state debugging function
henri123lemoine Dec 16, 2024
ca52534
added modifiable fixed command and simple_play.py default sim params
henri123lemoine Dec 16, 2024
2f32f43
Final walking policy config
henri123lemoine Dec 16, 2024
b3659e1
Bug fix for microstompy env on legs_only=True
henri123lemoine Dec 16, 2024
79ca1e4
Final xml version (reordered joints)
henri123lemoine Dec 16, 2024
8e40aa0
Improved arrow drawing (added grey command heading arrow)
henri123lemoine Dec 16, 2024
c62d9ea
Fixed robot_fixed.xml parameters
henri123lemoine Dec 16, 2024
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Increased height to avoid risks of appearing in the ground
henri123lemoine committed Dec 10, 2024
commit 35ad9cf1721db888267772e4312b72a77fd88d49
2 changes: 1 addition & 1 deletion sim/resources/stompymicro/joints.py
Original file line number Diff line number Diff line change
@@ -98,7 +98,7 @@ def get_facing_direction_quaternion(angle_degrees: float) -> List[float]:


class Robot(Node):
height = 0.32
height = 0.34
angle = 0
rotation = get_facing_direction_quaternion(angle)
print(f"Rotation: {rotation}")