merge

Makefile

@@ -75,11 +75,9 @@ clean:
 #       Static Checks      #
 # ------------------------ #
 
-py-files := $(shell find . -name '*.py')
-
 format:
-	@black $(py-files)
-	@ruff format $(py-files)
+	@black sim
+	@ruff format sim
 .PHONY: format
 
 format-cpp:
@@ -88,15 +86,11 @@ format-cpp:
 .PHONY: format-cpp
 
 static-checks:
-	@black --diff --check $(py-files)
-	@ruff check $(py-files)
-	@mypy --install-types --non-interactive $(py-files)
+	@black --diff --check sim
+	@ruff check sim
+	@mypy --install-types --non-interactive sim
 .PHONY: lint
 
-mypy-daemon:
-	@dmypy run -- $(py-files)
-.PHONY: mypy-daemon
-
 # ------------------------ #
 #        Unit tests        #
 # ------------------------ #

README.md

@@ -10,6 +10,11 @@
 [![Discord](https://img.shields.io/discord/1224056091017478166)](https://discord.gg/k5mSvCkYQh)
 [![Wiki](https://img.shields.io/badge/wiki-humanoids-black)](https://humanoids.wiki)
 <br />
+[![python](https://img.shields.io/badge/-Python_3.8-blue?logo=python&logoColor=white)](https://github.com/pre-commit/pre-commit)
+[![black](https://img.shields.io/badge/Code%20Style-Black-black.svg?labelColor=gray)](https://black.readthedocs.io/en/stable/)
+[![ruff](https://img.shields.io/badge/Linter-Ruff-red.svg?labelColor=gray)](https://github.com/charliermarsh/ruff)
+<br />
+[![Python Checks](https://github.com/kscalelabs/sim/actions/workflows/test.yml/badge.svg)](https://github.com/kscalelabs/sim/actions/workflows/test.yml)
 [![Update Stompy S3 Model](https://github.com/kscalelabs/sim/actions/workflows/update_stompy_s3.yml/badge.svg)](https://github.com/kscalelabs/sim/actions/workflows/update_stompy_s3.yml)
 
 </div>
@@ -29,6 +34,8 @@ The getting up task is still an open challenge!
 
 ## Getting Started
 
+This repository requires Python 3.8 due to compatibility issues with underlying libraries. We hope to support more recent Python versions in the future.
+
 1. Clone this repository:
 ```bash
 git clone https://github.com/kscalelabs/sim.git

pyproject.toml

@@ -30,12 +30,15 @@ warn_redundant_casts = true
 incremental = true
 namespace_packages = false
 
+exclude = "sim/humanoid_gym/"
+
 [[tool.mypy.overrides]]
 
 module = [
-    "isaacgym.*",
     "humanoid.*",
+    "isaacgym.*",
     "IsaacGymEnvs.*",
+    "mujoco.*",
 ]
 
 ignore_missing_imports = true
@@ -49,6 +52,8 @@ profile = "black"
 line-length = 120
 target-version = "py310"
 
+exclude = ["sim/humanoid_gym"]
+
 [tool.ruff.lint]
 
 select = ["ANN", "D", "E", "F", "I", "N", "PGH", "PLC", "PLE", "PLR", "PLW", "W"]

sim/requirements.txt

@@ -1,3 +1,4 @@
 # requirements.txt
 
+mediapy
 torch

sim/scripts/create_mjcf.py

@@ -10,19 +10,23 @@
     2. Condim 3 and 4 and difference in results
 """
 
+import logging
+import xml.dom.minidom
 import xml.etree.ElementTree as ET
 from pathlib import Path
-import xml.dom.minidom
+from typing import List, Union
 
 from kol.formats import mjcf
+
 from sim.stompy.joints import StompyFixed
 from sim.env import stompy_mjcf_path
 
+logger = logging.getLogger(__name__)
 
 STOMPY_HEIGHT = 1.0
 
 
-def _pretty_print_xml(xml_string):
+def _pretty_print_xml(xml_string: str) -> str:
     """Formats the provided XML string into a pretty-printed version."""
     parsed_xml = xml.dom.minidom.parseString(xml_string)
     return parsed_xml.toprettyxml(indent="  ")
@@ -32,7 +36,8 @@ class Sim2SimRobot(mjcf.Robot):
     """A class to adapt the world in a Mujoco XML file."""
 
     def adapt_world(self) -> None:
-        root = self.tree.getroot()
+        root: ET.Element = self.tree.getroot()
+
         asset = root.find("asset")
         asset.append(
             ET.Element(
@@ -116,26 +121,24 @@ def adapt_world(self) -> None:
             ).to_xml(),
         )
 
-        motors = []
-        sensors = []
+        motors: List[mjcf.Motor] = []
+        sensor_pos: List[mjcf.Actuatorpos] = []
+        sensor_vel: List[mjcf.Actuatorvel] = []
+        sensor_frc: List[mjcf.Actuatorfrc] = []
         for joint, limits in StompyFixed.default_limits().items():
             if joint in StompyFixed.default_standing().keys():
                 motors.append(
                     mjcf.Motor(
                         name=joint, joint=joint, gear=1, ctrlrange=(limits["lower"], limits["upper"]), ctrllimited=True
                     )
                 )
-                sensors.extend(
-                    [
-                        mjcf.Actuatorpos(name=joint + "_p", actuator=joint, user="13"),
-                        mjcf.Actuatorvel(name=joint + "_v", actuator=joint, user="13"),
-                        mjcf.Actuatorfrc(name=joint + "_f", actuator=joint, user="13", noise=0.001),
-                    ]
-                )
+                sensor_pos.append(mjcf.Actuatorpos(name=joint + "_p", actuator=joint, user="13"))
+                sensor_vel.append(mjcf.Actuatorvel(name=joint + "_v", actuator=joint, user="13"))
+                sensor_frc.append(mjcf.Actuatorfrc(name=joint + "_f", actuator=joint, user="13", noise=0.001))
 
         # Add motors and sensors
         root.append(mjcf.Actuator(motors).to_xml())
-        root.append(mjcf.Sensor(sensors).to_xml())
+        root.append(mjcf.Sensor(sensor_pos, sensor_vel, sensor_frc).to_xml())
 
         # Add imus
         sensors = root.find("sensor")
@@ -182,11 +185,11 @@ def adapt_world(self) -> None:
         )
         self.tree = ET.ElementTree(root)
 
-    def save(self, path: str | Path) -> None:
+    def save(self, path: Union[str, Path]) -> None:
         rough_string = ET.tostring(self.tree.getroot(), "utf-8")
         # Pretty print the XML
         formatted_xml = _pretty_print_xml(rough_string)
-
+        logger.info("XML:\n%s", formatted_xml)
         with open(path, "w") as f:
             f.write(formatted_xml)
 

sim/scripts/simulate_mjcf.py

@@ -5,17 +5,25 @@
     mjpython sim/scripts/simulate_mjcf.py --record
 """
 
+import argparse
+import logging
 import time
+from pathlib import Path
+from typing import List, Union
+
+import mediapy as media
 import mujoco
 import mujoco.viewer
-import mediapy as media
-import argparse
+import numpy as np
 
 from sim.env import stompy_mjcf_path
+from sim.logging import configure_logging
+
+logger = logging.getLogger(__name__)
 
 
-def simulate(model_path, duration, framerate, record_video):
-    frames = []
+def simulate(model_path: Union[str, Path], duration: float, framerate: float, record_video: bool) -> None:
+    frames: List[np.ndarray] = []
     model = mujoco.MjModel.from_xml_path(model_path)
     data = mujoco.MjData(model)
     renderer = mujoco.Renderer(model)
@@ -37,18 +45,18 @@ def simulate(model_path, duration, framerate, record_video):
         if record_video:
             video_path = "mjcf_simulation.mp4"
             media.write_video(video_path, frames, fps=framerate)
-            print(f"Video saved to {video_path}")
+            # print(f"Video saved to {video_path}")
+            logger.info("Video saved to %s", video_path)
 
 
 if __name__ == "__main__":
+    configure_logging()
+
     parser = argparse.ArgumentParser(description="MuJoCo Simulation")
-    parser.add_argument(
-        "--model_path", type=str, default=str(stompy_mjcf_path()), help="Path to the MuJoCo XML model file"
-    )
+    parser.add_argument("--model_path", type=str, default=str(stompy_mjcf_path()), help="Path to the MuJoCo XML file")
     parser.add_argument("--duration", type=int, default=3, help="Duration of the simulation in seconds")
     parser.add_argument("--framerate", type=int, default=30, help="Frame rate for video recording")
     parser.add_argument("--record", action="store_true", help="Flag to record video")
-
     args = parser.parse_args()
 
     simulate(args.model_path, args.duration, args.framerate, args.record)

sim/scripts/simulate_urdf.py

@@ -8,9 +8,8 @@
 """
 
 import logging
-import time
 from dataclasses import dataclass
-from typing import Any, Dict, List, Literal, NewType
+from typing import Any, Dict, Literal, NewType
 
 from isaacgym import gymapi, gymtorch, gymutil
 
@@ -174,14 +173,14 @@ def load_gym() -> GymParams:
 
 
 def run_gym(gym: GymParams, mode: Literal["one_at_a_time", "all_at_once"] = "all_at_once") -> None:
-    joints = Stompy.all_joints()
-    last_time = time.time()
+    # joints = Stompy.all_joints()
+    # last_time = time.time()
 
-    dof_ids: Dict[str, int] = gym.gym.get_actor_dof_dict(gym.env, gym.robot)
-    body_ids: List[str] = gym.gym.get_actor_rigid_body_names(gym.env, gym.robot)
+    # dof_ids: Dict[str, int] = gym.gym.get_actor_dof_dict(gym.env, gym.robot)
+    # body_ids: List[str] = gym.gym.get_actor_rigid_body_names(gym.env, gym.robot)
 
-    joint_id = 0
-    effort = 5.0
+    # joint_id = 0
+    # effort = 5.0
 
     while not gym.gym.query_viewer_has_closed(gym.viewer):
         gym.gym.simulate(gym.sim)

sim/scripts/update_stompy_s3.py

@@ -1,11 +1,9 @@
+# mypy: disable-error-code="import-not-found"
 """Updates the Stompy model."""
 
 import tarfile
 from pathlib import Path
 
-from kol.logging import configure_logging
-from kol.onshape.converter import Converter
-
 STOMPY_MODEL = (
     "https://cad.onshape.com/documents/71f793a23ab7562fb9dec82d/"
     "w/6160a4f44eb6113d3fa116cd/e/1a95e260677a2d2d5a3b1eb3"
@@ -23,6 +21,12 @@
 
 
 def main() -> None:
+    try:
+        from kol.logging import configure_logging
+        from kol.onshape.converter import Converter
+    except ImportError:
+        raise ImportError("Please install the `kscale-onshape-library` package to run this script.")
+
     configure_logging()
 
     output_dir = Path("stompy")

sim/stompy/joints.py

@@ -7,7 +7,7 @@
 
 import textwrap
 from abc import ABC
-from typing import Dict, List, Union
+from typing import Dict, List, Tuple, Union
 
 import numpy as np
 
@@ -30,8 +30,8 @@ def joints(cls) -> List[str]:
         ]
 
     @classmethod
-    def joints_motors(cls) -> List[str]:
-        joint_names = []
+    def joints_motors(cls) -> List[Tuple[str, str]]:
+        joint_names: List[Tuple[str, str]] = []
         for attr in dir(cls):
             if not attr.startswith("__"):
                 attr2 = getattr(cls, attr)

tests/conftest.py

@@ -1,6 +1,7 @@
 """Defines PyTest configuration for the project."""
 
 import random
+from typing import List
 
 import pytest
 from _pytest.python import Function
@@ -11,5 +12,5 @@ def set_random_seed() -> None:
     random.seed(1337)
 
 
-def pytest_collection_modifyitems(items: list[Function]) -> None:
+def pytest_collection_modifyitems(items: List[Function]) -> None:
     items.sort(key=lambda x: x.get_closest_marker("slow") is not None)