Jt/port hardcoding MjModel attributes for MiniCheetah - #39
Closed
JoshuaTchou wants to merge 83 commits into
Closed
Conversation
…d history length. Implemented for dof_pos_target, dof_pos, dof_vel.
in preparation for domain randomization of gains
…f_pos_history` (used for smoothness reward). Some tuning. Change stance/swing reward to use the smoothed square wave.
diff --git a/gym/envs/mit_humanoid/mit_humanoid_config.py b/gym/envs/mit_humanoid/mit_humanoid_config.py index 54813f7..368f2c3 100644 --- a/gym/envs/mit_humanoid/mit_humanoid_config.py +++ b/gym/envs/mit_humanoid/mit_humanoid_config.py @@ -142,7 +142,7 @@ class MITHumanoidCfg(LeggedRobotCfg): class asset(LeggedRobotCfg.asset): file = ( "{LEGGED_GYM_ROOT_DIR}/resources/robots/" - + "mit_humanoid/urdf/humanoid_R_sf.urdf" + + "mit_humanoid/urdf/humanoid_F_sf_learnt.urdf" ) # foot_collisionbox_names = ["foot"] foot_name = "foot" @@ -289,12 +289,12 @@ class MITHumanoidRunnerCfg(LeggedRobotRunnerCfg): use_clipped_value_loss = True clip_param = 0.2 entropy_coef = 0.01 - num_learning_epochs = 5 + num_learning_epochs = 4 # * mini batch size = num_envs*nsteps / nminibatches num_mini_batches = 4 - learning_rate = 5.0e-5 + learning_rate = 1.0e-6 schedule = "adaptive" # could be adaptive, fixed - gamma = 0.999 + gamma = 0.99 lam = 0.95 desired_kl = 0.01 max_grad_norm = 1.0 diff --git a/resources/robots/mit_humanoid/urdf/humanoid_F_sf_learnt.urdf b/resources/robots/mit_humanoid/urdf/humanoid_F_sf_learnt.urdf index 5e76f34..98a0773 100644 --- a/resources/robots/mit_humanoid/urdf/humanoid_F_sf_learnt.urdf +++ b/resources/robots/mit_humanoid/urdf/humanoid_F_sf_learnt.urdf @@ -570,7 +570,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="15_left_shoulder_pitch" - type="fixed"> + type="revolute"> <origin xyz="0.01346 0.17608 0.24657" rpy="0 0 0" /> @@ -615,7 +615,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="16_left_shoulder_abad" - type="fixed"> + type="revolute"> <origin xyz="0 .05760 0" rpy="0.0 0 0" /> @@ -668,7 +668,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="17_left_shoulder_yaw" - type="fixed"> + type="revolute"> <origin xyz="0 0 -.10250" rpy="0.0 0 0" /> @@ -719,7 +719,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="18_left_elbow" - type="fixed"> + type="revolute"> <origin xyz="0 0 -.15750" rpy="0 0 0.0" /> @@ -798,7 +798,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="11_right_shoulder_pitch" - type="fixed"> + type="revolute"> <origin xyz="0.01346 -0.17608 0.24657" rpy="0 0 0" /> @@ -843,7 +843,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="12_right_shoulder_abad" - type="fixed"> + type="revolute"> <origin xyz="0 -.05760 0" rpy="0.0 0 0" /> @@ -896,7 +896,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="13_right_shoulder_yaw" - type="fixed"> + type="revolute"> <origin xyz="0 0 -.10250" rpy="0.0 0 0" /> @@ -947,7 +947,7 @@ Simple Foot: foot approximated as single box-contact --> </link> <joint name="14_right_elbow" - type="fixed"> + type="revolute"> <origin xyz="0 0 -.15750" rpy="0 0 0.0" />
…erically unstable for humanoid
put jacobian into MIT_humanoid base environment, rather than import; importing breaks when running --original_config
only for lander: needs to overload _check_terminations_and_timeouts to not actually reset so that reset can be handled only by runner (without breaking backwards compatibility) Also keeps a list of rewards, for finer reward integration, and can also do traj stats
…ent mujoco version. Changing to use newer version all around next.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Issue ticket number and link
Fixes # (issue)
Describe your changes
Hardcoded njmax and opt.ccd_iterations for MiniCheetah instances because run-time warnings were telling me to increase the values. This is done in mujoco_backend_base.py._load_model().
Instructions for reviewers
The desired behavior is that the runtime warnings disappear and the values njmax and ccd_iterations are actually changed when training MiniCheetah or subclasses
Checklist before requesting a review
ruff format .manually