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Isaac to mujoco loading #29

Merged
merged 29 commits into from
Jul 17, 2024
Merged

Isaac to mujoco loading #29

merged 29 commits into from
Jul 17, 2024

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is2ac2
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@is2ac2 is2ac2 commented Jul 16, 2024 •
edited
Loading

#28

  • added .xml, mujoco support
  • changed stiffness and damping to make simulation with only legs more realistic
  • setup loading model and deploying in mujoco

nathanjzhao and others added 26 commits July 3, 2024 21:31
@nathanjzhao
added stompyv2
85405f7
@is2ac2
stompy_v2 fixes
4ab2f4d
@is2ac2
removing torques values the model doesn't fly away
815a901
@is2ac2
updated standing position and joint limits
b0fc9e5
@is2ac2
initial params
cb8592b
@is2ac2
cleanup
80b9289
@is2ac2
fighting mypy
e52ffaf
@is2ac2
linting
c627bda
@is2ac2
defeating mypy
9a25cbf
@is2ac2
fixes
bffbb58
@is2ac2
final fixes
5098bf1
@is2ac2
more fixes
635a12c
@is2ac2
more fixes
e5e9eec
@is2ac2
linting
d346b62
@is2ac2
save the walking policy, small issues with knees
e2f9eb5
@is2ac2
Merge branch 'master' of github.com:kscalelabs/sim into isaac/only_legs
f8a1280
@is2ac2
linking latest humanoid-gym
54fbd28
@is2ac2
setup working for mjcf
d414cc3
@is2ac2
saving new modle with inertia, training works
03bbe47
@is2ac2
saving model with inertia, training works
440ebdc
@is2ac2
latest settings for making legs_only ppo realistic
b1335a9
@is2ac2
cleanup / removing comments
b89bf62
@is2ac2
add hexmove settings and walking policy
72705d0
@is2ac2
loading isaac gym model to mujoco
0c2d2db
@is2ac2 @wuallenwu @WT-MM
Updated third party library
c7af392 
Co-authored-by: Allen Wu <[email protected]>
Co-authored-by: Wesley Maa <[email protected]>
@is2ac2
linting
95ab213
@is2ac2 is2ac2 requested a review from budzianowski July 16, 2024 17:08
budzianowski
budzianowski reviewed Jul 17, 2024
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Remove hexmove files. After that lgtm!

sim/deploy/run.py Show resolved Hide resolved
sim/scripts/create_fixed_torso.py Outdated Show resolved Hide resolved
sim/stompy_legs/joints.py Outdated Show resolved Hide resolved
sim/deploy/policy.py Show resolved Hide resolved
sim/deploy/config.py Outdated Show resolved Hide resolved
@is2ac2 is2ac2 requested a review from budzianowski July 17, 2024 07:07
budzianowski
budzianowski approved these changes Jul 17, 2024
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lgtm

@is2ac2 is2ac2 merged commit 1e2914e into master Jul 17, 2024
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@is2ac2 is2ac2 deleted the isaac_to_mujoco_loading branch July 17, 2024 16:44
@is2ac2 is2ac2 mentioned this pull request Jul 17, 2024
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3 participants
@is2ac2 @budzianowski @nathanjzhao