added stompyv2

.gitignore

@@ -1,5 +1,8 @@
 # .gitignore
-
+# Robot Parts
+*.stl
+*.dae
+*.urdf
 # Local files
 .env
 # Python

README.md

@@ -80,6 +80,7 @@ python sim/humanoid_gym/train.py --task=stompy_ppo --num_envs=4096 --headless
 3. Run evaluation with the following command:
 ```bash
 python sim/humanoid_gym/play.py --task legs_ppo --sim_device cpu
+
 ```
 See [this doc](https://docs.google.com/document/d/1YZzBqIXO7oq7vIKu-BZr5ssNsi3nKtxpRPnfSnTXojA/edit?usp=sharing) for more beginner tips.
 

sim/deploy/run.py

@@ -21,7 +21,7 @@
 
 from sim.deploy.config import RobotConfig
 from sim.env import stompy_mjcf_path
-from sim.stompy.joints import StompyFixed
+from sim.stompy2.joints import StompyFixed
 
 
 class Worlds(Enum):

sim/env.py

@@ -3,9 +3,16 @@
 import os
 from pathlib import Path
 
+from dotenv import load_dotenv
+
+load_dotenv()
+
 
 def model_dir() -> Path:
-    return Path(os.environ.get("MODEL_DIR", "models"))
+    # return Path(os.environ.get("MODEL_DIR", "models"))
+    # return Path(os.environ.get("MODEL_DIR", "stompytherobot"))
+    # return Path("/home/dpsh/isaacs_sim/sim/sim/stompy2")
+    return Path("/home/dpsh/isaacs_sim/sim/sim/stompy2")
 
 
 def run_dir() -> Path:

sim/humanoid_gym/envs/getup_config.py

@@ -8,7 +8,7 @@
 from humanoid.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
 
 from sim.env import stompy_urdf_path
-from sim.stompy.joints import Stompy
+from sim.stompy2.joints import Stompy
 
 NUM_JOINTS = len(Stompy.all_joints())  # 37
 
@@ -39,8 +39,12 @@ class asset(LeggedRobotCfg.asset):  # noqa: N801
         file = str(stompy_urdf_path())
 
         name = "stompy"
-        foot_name = "_leg_1_x4_1_outer_1"  # "foot"
-        knee_name = "belt_knee"  # "knee"
+        foot_name = "_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1"
+        knee_name = "_rmd_x8_90_mock_3_inner_rmd_x8_90_1"
+
+        # old
+        # foot_name = "_leg_1_x4_1_outer_1"  # "foot"
+        # knee_name = "belt_knee"
         terminate_after_contacts_on = []  # "link_torso_1_top_torso_1"]
         penalize_contacts_on = []
         self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter

sim/humanoid_gym/envs/getup_env.py

@@ -8,7 +8,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from sim.stompy.joints import Stompy
+from sim.stompy2.joints import Stompy
 
 default_feet_height = 0.0
 

sim/humanoid_gym/envs/legs_config.py

@@ -4,7 +4,7 @@
 
 from sim.env import stompy_urdf_path
 from sim.humanoid_gym.envs.stompy_config import StompyCfg
-from sim.stompy.joints import StompyFixed
+from sim.stompy2.joints import StompyFixed
 
 NUM_JOINTS = len(StompyFixed.default_standing())  # 17
 
@@ -33,13 +33,19 @@ class asset(LeggedRobotCfg.asset):
 
         name = "stompy"
 
-        foot_name = "_leg_1_x4_1_outer_1"  # "foot"
-        knee_name = "belt_knee"
+        # foot_name = "_foot_1_foot_1"
+        foot_name = "_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1"
+        knee_name = "_rmd_x8_90_mock_3_inner_rmd_x8_90_1"
+
+        # old
+        # foot_name = "_leg_1_x4_1_outer_1"  # "foot"
+        # knee_name = "belt_knee"
 
         termination_height = 0.23
         default_feet_height = 0.0
 
-        terminate_after_contacts_on = ["link_torso_1_top_torso_1"]
+        terminate_after_contacts_on = ["link_upper_limb_assembly_7_dof_1_torso_1_top_skeleton_2"]
+        # terminate_after_contacts_on = ["link_torso_1_top_torso_1"]
 
         penalize_contacts_on = []
         self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter

sim/humanoid_gym/envs/legs_env.py

@@ -8,7 +8,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from sim.stompy.joints import StompyFixed
+from sim.stompy2.joints import StompyFixed
 
 
 class LegsFreeEnv(LeggedRobot):
@@ -124,14 +124,14 @@ def compute_ref_state(self):
         sin_pos_l[sin_pos_l > 0] = 0
 
         self.ref_dof_pos[:, self.legs_joints["left_hip_pitch"]] = sin_pos_l * scale_1
-        self.ref_dof_pos[:, self.legs_joints["left_knee"]] = sin_pos_l * scale_2
-        self.ref_dof_pos[:, self.legs_joints["left_ankle"]] = sin_pos_l * scale_1
+        self.ref_dof_pos[:, self.legs_joints["left_knee_pitch"]] = sin_pos_l * scale_2
+        self.ref_dof_pos[:, self.legs_joints["left_ankle_roll"]] = sin_pos_l * scale_1
 
         # right foot stance phase set to default joint pos
         sin_pos_r[sin_pos_r < 0] = 0
         self.ref_dof_pos[:, self.legs_joints["right_hip_pitch"]] = sin_pos_r * scale_1
-        self.ref_dof_pos[:, self.legs_joints["right_knee"]] = sin_pos_r * scale_2
-        self.ref_dof_pos[:, self.legs_joints["right_ankle"]] = sin_pos_r * scale_1
+        self.ref_dof_pos[:, self.legs_joints["right_knee_pitch"]] = sin_pos_r * scale_2
+        self.ref_dof_pos[:, self.legs_joints["right_ankle_roll"]] = sin_pos_r * scale_1
 
         # Double support phase
         self.ref_dof_pos[torch.abs(sin_pos) < 0.1] = 0
@@ -302,6 +302,7 @@ def _reward_knee_distance(self):
         """
         Calculates the reward based on the distance between the knee of the humanoid.
         """
+        # breakpoint()
         foot_pos = self.rigid_state[:, self.knee_indices, :2]
         foot_dist = torch.norm(foot_pos[:, 0, :] - foot_pos[:, 1, :], dim=1)
         fd = self.cfg.rewards.min_dist

sim/humanoid_gym/envs/stompy_config.py

@@ -3,9 +3,9 @@
 from humanoid.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
 
 from sim.env import stompy_urdf_path
-from sim.stompy.joints import Stompy
+from sim.stompy2.joints import Stompy
 
-NUM_JOINTS = len(Stompy.all_joints())  # 37
+NUM_JOINTS = len(Stompy.all_joints())  # 33
 
 
 class StompyCfg(LeggedRobotCfg):
@@ -38,13 +38,17 @@ class asset(LeggedRobotCfg.asset):
 
         name = "stompy"
 
-        foot_name = "_leg_1_x4_1_outer_1"  # "foot"
-        knee_name = "belt_knee"
+        foot_name = "_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1"
+        knee_name = "_rmd_x8_90_mock_3_inner_rmd_x8_90_1"
+
+        # old
+        # foot_name = "_leg_1_x4_1_outer_1"  # "foot"
+        # knee_name = "belt_knee"
 
         termination_height = 0.23
         default_feet_height = 0.0
-
-        terminate_after_contacts_on = ["link_torso_1_top_torso_1"]
+        terminate_after_contacts_on = ["link_upper_limb_assembly_7_dof_1_torso_1_top_skeleton_2"]
+        # terminate_after_contacts_on = ["link_torso_1_top_torso_1"]
 
         penalize_contacts_on = []
         self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter

sim/humanoid_gym/envs/stompy_env.py

@@ -8,7 +8,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from sim.stompy.joints import Stompy
+from sim.stompy2.joints import Stompy
 
 
 class StompyFreeEnv(LeggedRobot):
@@ -56,6 +56,7 @@ def __init__(self, cfg: LeggedRobotCfg, sim_params, physics_engine, sim_device,
 
         self.legs_joints = {}
         for name, joint in Stompy.legs.left.joints_motors():
+            print(name)
             joint_handle = self.gym.find_actor_dof_handle(env_handle, actor_handle, joint)
             self.legs_joints["left_" + name] = joint_handle
 
@@ -125,14 +126,14 @@ def compute_ref_state(self):
         sin_pos_l[sin_pos_l > 0] = 0
 
         self.ref_dof_pos[:, self.legs_joints["left_hip_pitch"]] = sin_pos_l * scale_1
-        self.ref_dof_pos[:, self.legs_joints["left_knee"]] = sin_pos_l * scale_2
-        self.ref_dof_pos[:, self.legs_joints["left_ankle"]] = sin_pos_l * scale_1
+        self.ref_dof_pos[:, self.legs_joints["left_knee_pitch"]] = sin_pos_l * scale_2
+        self.ref_dof_pos[:, self.legs_joints["left_ankle_roll"]] = sin_pos_l * scale_1
 
         # right foot stance phase set to default joint pos
         sin_pos_r[sin_pos_r < 0] = 0
         self.ref_dof_pos[:, self.legs_joints["right_hip_pitch"]] = sin_pos_r * scale_1
-        self.ref_dof_pos[:, self.legs_joints["right_knee"]] = sin_pos_r * scale_2
-        self.ref_dof_pos[:, self.legs_joints["right_ankle"]] = sin_pos_r * scale_1
+        self.ref_dof_pos[:, self.legs_joints["right_knee_pitch"]] = sin_pos_r * scale_2
+        self.ref_dof_pos[:, self.legs_joints["right_ankle_roll"]] = sin_pos_r * scale_1
 
         # Double support phase
         self.ref_dof_pos[torch.abs(sin_pos) < 0.1] = 0
@@ -207,7 +208,6 @@ def compute_observations(self):
         contact_mask = self.contact_forces[:, self.feet_indices, 2] > 5.0
 
         self.command_input = torch.cat((sin_pos, cos_pos, self.commands[:, :3] * self.commands_scale), dim=1)
-        breakpoint()
         q = (self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos
         dq = self.dof_vel * self.obs_scales.dof_vel
 
@@ -389,6 +389,7 @@ def _reward_base_height(self):
         The reward is computed based on the height difference between the robot's base and the average height
         of its feet when they are in contact with the ground.
         """
+        # breakpoint()
         stance_mask = self._get_gait_phase()
         measured_heights = torch.sum(self.rigid_state[:, self.feet_indices, 2] * stance_mask, dim=1) / torch.sum(
             stance_mask, dim=1

sim/scripts/create_fixed_torso.py

@@ -3,7 +3,7 @@
 
 import xml.etree.ElementTree as ET
 
-from sim.stompy.joints import StompyFixed
+from sim.stompy2.joints import StompyFixed
 
 STOMPY_URDF = "stompy/robot.urdf"
 

sim/scripts/simulate_urdf.py

@@ -12,10 +12,9 @@
 from typing import Any, Dict, Literal, NewType
 
 from isaacgym import gymapi, gymtorch, gymutil
-
 from sim.env import stompy_urdf_path
 from sim.logging import configure_logging
-from sim.stompy.joints import Stompy
+from sim.stompy2.joints import Stompy
 
 logger = logging.getLogger(__name__)
 
@@ -150,8 +149,9 @@ def load_gym() -> GymParams:
 
     # Resets the DOF positions to the starting positions.
     # dof_vel[:] = 0.0
-    starting_positions = Stompy.default_positions()
+    starting_positions = Stompy.default_standing()
     dof_ids: Dict[str, int] = gym.get_actor_dof_dict(env, robot)
+    print(starting_positions)
     for joint_name, joint_position in starting_positions.items():
         dof_pos[0, dof_ids[joint_name]] = joint_position
     env_ids_int32 = torch.zeros(1, dtype=torch.int32)
@@ -161,6 +161,7 @@ def load_gym() -> GymParams:
         gymtorch.unwrap_tensor(env_ids_int32),
         1,
     )
+    print(dof_pos)
 
     return GymParams(
         gym=gym,