update links to gpr (#125)

update links, remove unused scripts, fix ci/cd

Makefile

@@ -27,16 +27,16 @@ all:
 # ------------------------ #
 
 train-one-vis:
-	@python -m sim.train --task stompymini --num_envs 1
+	@python -m sim.train --task gpr --num_envs 1
 
 train-many-vis:
-	@python -m sim.train --task stompymini --num_envs 16
+	@python -m sim.train --task gpr --num_envs 16
 
 train:
-	@python -m sim.train --task stompymini --num_envs 4096 --headless
+	@python -m sim.train --task gpr --num_envs 4096 --headless
 
 play:
-	@python -m sim.play --task stompymini
+	@python -m sim.play --task gpr
 
 # ------------------------ #
 #          Build           #

pyproject.toml

@@ -1,7 +1,7 @@
 [tool.black]
 
 line-length = 120
-target-version = ["py311"]
+target-version = ["py38"]
 include = '\.pyi?$'
 
 [tool.pytest.ini_options]
@@ -30,16 +30,21 @@ warn_redundant_casts = true
 incremental = true
 namespace_packages = false
 
-exclude = ["sim/envs/", "sim/algo/*", "sim/utils/*", "sim/sim2sim.py",
-           "sim/scripts/create_mjcf.py", "sim/scripts/create_fixed_torso.py"]
+exclude = ["sim/envs/", "sim/algo/", "sim/utils/", "sim/sim2sim.py",
+           "sim/scripts/create_mjcf.py", "sim/scripts/create_fixed_torso.py",
+           "sim/sim2sim_old.py", "sim/play_old.py"]
 
 [[tool.mypy.overrides]]
 
 module = [
     "isaacgym.*",
     "mujoco.*",
+    "sim.envs.*",
+    "sim.utils.*",
 ]
 
+ignore_errors = true
+
 [tool.isort]
 
 profile = "black"
@@ -48,10 +53,11 @@ known_third_party = ["wandb"]
 [tool.ruff]
 
 line-length = 120
-target-version = "py310"
+target-version = "py38"
 
 exclude = ["sim/envs/", "sim/algo/", "sim/play.py", 
-           "sim/sim2sim.py","sim/utils", "sim/scripts/create_mjcf.py"]
+           "sim/sim2sim.py","sim/utils", "sim/scripts/create_mjcf.py",
+           "sim/play_old.py", "sim/sim2sim_old.py"]
 
 [tool.ruff.lint]
 

sim/envs/__init__.py

@@ -12,16 +12,12 @@
 from sim.envs.humanoids.dora_env import DoraFreeEnv
 from sim.envs.humanoids.g1_config import G1Cfg, G1CfgPPO
 from sim.envs.humanoids.g1_env import G1FreeEnv
+from sim.envs.humanoids.gpr_env import GprFreeEnv
+from sim.envs.humanoids.grp_config import GprCfg, GprCfgPPO, GprStandingCfg
 from sim.envs.humanoids.h1_config import H1Cfg, H1CfgPPO
 from sim.envs.humanoids.h1_env import H1FreeEnv
 from sim.envs.humanoids.stompymicro_config import StompyMicroCfg, StompyMicroCfgPPO
 from sim.envs.humanoids.stompymicro_env import StompyMicroEnv
-from sim.envs.humanoids.grp_config import (
-    GprCfg,
-    GprCfgPPO,
-    GprStandingCfg,
-)
-from sim.envs.humanoids.gpr_env import GprFreeEnv
 from sim.envs.humanoids.xbot_config import XBotCfg, XBotCfgPPO
 from sim.envs.humanoids.xbot_env import XBotLFreeEnv
 from sim.utils.task_registry import TaskRegistry  # noqa: E402

sim/envs/humanoids/grp_config.py

@@ -152,7 +152,7 @@ class rewards:
         target_joint_pos_scale = 0.17  # rad
         target_feet_height = 0.06  # m
 
-        cycle_time = 0.25  # sec
+        cycle_time = 0.64  # sec
         # if true negative total rewards are clipped at zero (avoids early termination problems)
         only_positive_rewards = True
         # tracking reward = exp(error*sigma)
@@ -180,7 +180,7 @@ class scales:
 
             # base pos
             default_joint_pos = 0.5
-            orientation = 1.
+            orientation = 1.0
             base_height = 0.2
             base_acc = 0.2
             # energy

sim/h5_logger.py

@@ -1,8 +1,9 @@
-""" Logger for logging data to HDF5 files """
+"""Logger for logging data to HDF5 files."""
+
 import os
 import uuid
 from datetime import datetime
-from typing import Dict
+from typing import Dict, Tuple
 
 import h5py
 import matplotlib.pyplot as plt  # dependency issues with python 3.8
@@ -17,7 +18,7 @@ def __init__(
         max_timesteps: int,
         num_observations: int,
         h5_out_dir: str = "sim/resources/",
-    ):
+    ) -> None:
         self.data_name = data_name
         self.num_actions = num_actions
         self.max_timesteps = max_timesteps
@@ -27,7 +28,7 @@ def __init__(
         self.h5_file, self.h5_dict = self._create_h5_file()
         self.current_timestep = 0
 
-    def _create_h5_file(self):
+    def _create_h5_file(self) -> Tuple[h5py.File, Dict[str, h5py.Dataset]]:
         # Create a unique file ID
         idd = str(uuid.uuid4())
         timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
@@ -43,8 +44,8 @@ def _create_h5_file(self):
         dset_prev_actions = h5_file.create_dataset(
             "prev_actions", (self.max_timesteps, self.num_actions), dtype=np.float32
         )
-        dset_2D_command = h5_file.create_dataset("observations/2D_command", (self.max_timesteps, 2), dtype=np.float32)
-        dset_3D_command = h5_file.create_dataset("observations/3D_command", (self.max_timesteps, 3), dtype=np.float32)
+        dset_2d_command = h5_file.create_dataset("observations/2D_command", (self.max_timesteps, 2), dtype=np.float32)
+        dset_3d_command = h5_file.create_dataset("observations/3D_command", (self.max_timesteps, 3), dtype=np.float32)
         dset_q = h5_file.create_dataset("observations/q", (self.max_timesteps, self.num_actions), dtype=np.float32)
         dset_dq = h5_file.create_dataset("observations/dq", (self.max_timesteps, self.num_actions), dtype=np.float32)
         dset_ang_vel = h5_file.create_dataset("observations/ang_vel", (self.max_timesteps, 3), dtype=np.float32)
@@ -61,8 +62,8 @@ def _create_h5_file(self):
         h5_dict = {
             "prev_actions": dset_prev_actions,
             "curr_actions": dset_curr_actions,
-            "2D_command": dset_2D_command,
-            "3D_command": dset_3D_command,
+            "2D_command": dset_2d_command,
+            "3D_command": dset_3d_command,
             "joint_pos": dset_q,
             "joint_vel": dset_dq,
             "ang_vel": dset_ang_vel,
@@ -72,7 +73,7 @@ def _create_h5_file(self):
         }
         return h5_file, h5_dict
 
-    def log_data(self, data: Dict[str, np.ndarray]):
+    def log_data(self, data: Dict[str, np.ndarray]) -> None:
         if self.current_timestep >= self.max_timesteps:
             print(f"Warning: Exceeded maximum timesteps ({self.max_timesteps})")
             return
@@ -83,7 +84,7 @@ def log_data(self, data: Dict[str, np.ndarray]):
 
         self.current_timestep += 1
 
-    def close(self):
+    def close(self) -> None:
         for key, dataset in self.h5_dict.items():
             max_val = np.max(np.abs(dataset[:]))
             if max_val > self.max_threshold:
@@ -97,9 +98,8 @@ def close(self):
         self.h5_file.close()
 
     @staticmethod
-    def visualize_h5(h5_file_path: str):
-        """
-        Visualizes the data from an HDF5 file by plotting each variable one by one.
+    def visualize_h5(h5_file_path: str) -> None:
+        """Visualizes the data from an HDF5 file by plotting each variable one by one.
 
         Args:
             h5_file_path (str): Path to the HDF5 file.
@@ -122,9 +122,8 @@ def visualize_h5(h5_file_path: str):
             print(f"Failed to visualize HDF5 file: {e}")
 
     @staticmethod
-    def _plot_dataset(name: str, data: np.ndarray):
-        """
-        Helper method to plot a single dataset.
+    def _plot_dataset(name: str, data: np.ndarray) -> None:
+        """Helper method to plot a single dataset.
 
         Args:
             name (str): Name of the dataset.
@@ -144,7 +143,3 @@ def _plot_dataset(name: str, data: np.ndarray):
         plt.grid(True)
         plt.tight_layout()
         plt.show()
-
-
-if __name__ == "__main__":
-    HDF5Logger.visualize_h5("stompypro/5a7dc371-445c-4f56-be05-4e65c5cc38bc.h5")