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Sim zbot2 support #135

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Sim zbot2 support #135

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alik-git
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@alik-git alik-git commented Dec 31, 2024 •
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run using

python sim/train.py --task=zbot2 --num_envs=4

budzianowski
budzianowski reviewed Jan 2, 2025
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good start!

sim/envs/humanoids/zeroth_config.py Outdated
foot_name = ["foot_bracket_for_5dof_leg_v9", "foot_bracket_for_5dof_leg_v9_2"]
knee_name = ["leg_top_bracket_v8_1", "leg_top_bracket_v8_1_2"]
foot_name = ["FOOT", "FOOT_1"]
knee_name = ["WJ-DP00-0002-FK-AP-020_7_8", "SJ-WK00-0023BOTTOMCASE_12_13"]
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Update also terminate_after_contacts_on

sim/resources/zbot2/joints.py Outdated

# ----- Top-level Robot ------------------------------------------------------------
class Robot(Node):
height = 0.34
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What's the current starting pose in mujoco and isaac?

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alik-git commented Jan 3, 2025

okay so I did:

  • update starting pose using mujoco viewer ✔️

still stuck on:

  • update materials in onshape? ❌

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alik-git commented Jan 4, 2025 •
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currently, the difference between the zeroth and zbot2 config and environments are minimal, I'm wondering if we should reactor somehow to reuse zeroth env and possibly config.

Not needed if these files will change much more soon.

image

image

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@alik-git @budzianowski @WT-MM