more fixes

sim/env.py

@@ -3,10 +3,6 @@
 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"))

sim/humanoid_gym/envs/getup_config.py

@@ -79,8 +79,7 @@ class noise_scales:  # noqa: N801
             height_measurements = 0.1
 
     class init_state(LeggedRobotCfg.init_state):  # noqa: N801
-        pos = [0.0, 0.0, 5.2]
-        # pos = [0.0, 0.0, 0.2]
+        pos = [0.0, 0.0, 0.2]
 
         # Face up
         # rot = [-0.717107, 0.0, 0.0, 0.717107]

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.stompy2.joints import StompyFixed
+from sim.stompy.joints import StompyFixed
 
 NUM_JOINTS = len(StompyFixed.default_standing())  # 17
 
@@ -33,19 +33,13 @@ class asset(LeggedRobotCfg.asset):
 
         name = "stompy"
 
-        # 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_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.torch_utils import *
 
 from isaacgym import gymtorch
-from sim.old_stompy.joints import StompyFixed
+from sim.stompy.joints import StompyFixed
 
 
 class LegsFreeEnv(LeggedRobot):

sim/humanoid_gym/envs/stompy_config.py

@@ -94,7 +94,6 @@ class init_state(LeggedRobotCfg.init_state):
 
     class control(LeggedRobotCfg.control):
         # PD Drive parameters:
-        # NOTE: these names are outdated, must be manually set in third party legged_robot.py
         stiffness = {
             "shoulder": 200,
             "elbow": 200,

sim/humanoid_gym/envs/stompy_env.py

@@ -8,7 +8,7 @@
 from isaacgym.torch_utils import *
 
 from isaacgym import gymtorch
-from sim.old_stompy.joints import Stompy
+from sim.stompy.joints import Stompy
 
 
 class StompyFreeEnv(LeggedRobot):
@@ -122,7 +122,6 @@ def compute_ref_state(self):
         scale_2 = 2 * scale_1
         # left foot stance phase set to default joint pos
         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_pitch"]] = sin_pos_l * scale_2
         self.ref_dof_pos[:, self.legs_joints["left_ankle_roll"]] = sin_pos_l * scale_1

sim/scripts/create_fixed_torso.py

@@ -35,10 +35,3 @@ def update_urdf() -> None:
 
 if __name__ == "__main__":
     update_urdf()
-
-
-# adjust default limits to be very constrained arouynd default standing pose
-# run create fixed torso
-# adjust  legs_ppo.py to use the fixed torso
-#  python train.py --task=legs_ppo --num_envs=1
-# adjust torque valu third_party/humanoid-gym/humanoid/envs/base/legged_robot.py

sim/scripts/simulate_urdf.py

@@ -14,7 +14,7 @@
 from isaacgym import gymapi, gymtorch, gymutil
 from sim.env import stompy_urdf_path
 from sim.logging import configure_logging
-from sim.old_stompy.joints import Stompy
+from sim.stompy.joints import Stompy
 
 logger = logging.getLogger(__name__)
 
@@ -151,7 +151,6 @@ def load_gym() -> GymParams:
     # dof_vel[:] = 0.0
     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)
@@ -161,7 +160,6 @@ def load_gym() -> GymParams:
         gymtorch.unwrap_tensor(env_ids_int32),
         1,
     )
-    print(dof_pos)
 
     return GymParams(
         gym=gym,