diff --git a/Makefile b/Makefile
index ec68abec..d82903ac 100755
--- a/Makefile
+++ b/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 #
# ------------------------ #
diff --git a/README.md b/README.md
index 7c0cd362..613fbae9 100755
--- a/README.md
+++ b/README.md
@@ -10,6 +10,11 @@
[](https://discord.gg/k5mSvCkYQh)
[](https://humanoids.wiki)
+[](https://github.com/pre-commit/pre-commit)
+[](https://black.readthedocs.io/en/stable/)
+[](https://github.com/charliermarsh/ruff)
+
+[](https://github.com/kscalelabs/sim/actions/workflows/test.yml)
[](https://github.com/kscalelabs/sim/actions/workflows/update_stompy_s3.yml)
@@ -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
diff --git a/pyproject.toml b/pyproject.toml
index d863eeb5..f5317fea 100644
--- a/pyproject.toml
+++ b/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"]
diff --git a/sim/requirements.txt b/sim/requirements.txt
index 4a0b4cf3..a22a9673 100644
--- a/sim/requirements.txt
+++ b/sim/requirements.txt
@@ -1,3 +1,4 @@
# requirements.txt
+mediapy
torch
diff --git a/sim/scripts/create_mjcf.py b/sim/scripts/create_mjcf.py
index 5cdc70ef..8c67557e 100644
--- a/sim/scripts/create_mjcf.py
+++ b/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(
@@ -116,8 +121,10 @@ 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(
@@ -125,17 +132,13 @@ def adapt_world(self) -> None:
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)
diff --git a/sim/scripts/simulate_mjcf.py b/sim/scripts/simulate_mjcf.py
index 056ec51d..921e6d1d 100644
--- a/sim/scripts/simulate_mjcf.py
+++ b/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)
diff --git a/sim/scripts/simulate_urdf.py b/sim/scripts/simulate_urdf.py
index 4b73dd4f..068e6810 100644
--- a/sim/scripts/simulate_urdf.py
+++ b/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)
diff --git a/sim/scripts/update_stompy_s3.py b/sim/scripts/update_stompy_s3.py
index c19f5f49..b214010d 100644
--- a/sim/scripts/update_stompy_s3.py
+++ b/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")
diff --git a/sim/stompy/joints.py b/sim/stompy/joints.py
index 901bfa7f..6f4a45a6 100755
--- a/sim/stompy/joints.py
+++ b/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)
diff --git a/tests/conftest.py b/tests/conftest.py
index fdc62bec..26b37caa 100644
--- a/tests/conftest.py
+++ b/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)