Jt/port hardcoding MjModel attributes for MiniCheetah - #39

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JoshuaTchou wants to merge 83 commits into

mainfrom

Commits on Mar 16, 2024

add coupling to humanoid torques
sheim
committed
6b9a2c9
add exp avg filtering
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e52208f
add oscillators and phase-based rewards, some tuning
sheim
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54b826d

Commits on Mar 18, 2024

some tuning
sheim
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c9411cd
implement history with (approximated) arbitrary sampling frequency and history length.
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90ff50c

Commits on Mar 19, 2024

Commits on Mar 23, 2024

properly roll histories, retune action_rate for mc
sheim
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3ae04a0

Commits on Mar 24, 2024

Commits on Mar 29, 2024

WIP: tuning, critic loss higher than expected
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d86162e

Commits on Aug 6, 2024

Merge branch 'dev' into humanoid
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816a18b
fix hips_forward dimensionality
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098989a
lander env
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0611bcd

Commits on Aug 7, 2024

unify humanoid and lander
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fd30865

Commits on Aug 27, 2024

everything integrated and works
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6248559

Commits on Aug 28, 2024

fix faster training configs for benchmarking
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1540cd2

Commits on Aug 29, 2024

just tweaks
sheim
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842b39e
SAC: typo and params that work for pendulum
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committed
33efaf5

Commits on Aug 30, 2024

update ruff settings
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committed
fd06555
address deprecation in torch.load and add lr to trackables for SAC
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3550dfd
allow randomize_episode_counters for reset_to_uniform in pendulum
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committed
4247ea7

Commits on Sep 3, 2024

some slimmin and separation of utils
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committed
66c9e1b
add layer norm to create_MLP, +kwargs flexibility
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dbd48c9
update for layernorm
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7d97081

Commits on Sep 4, 2024

wip
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be2e990
Merge branch 'dev' into humanoid
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3cd76b3
Refactor for action frequency handled in runner
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2799110

Commits on Sep 6, 2024

working SAC on pendulum, ready for merge
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committed
0979fab

Commits on Sep 8, 2024

Merge branch 'psdNetworks' into dev
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54e7a8d
hotfix: uncommited imports in init
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1d3251f
Merge branch 'dev' into humanoid
sheim
committed
12e8327

Commits on Sep 9, 2024

Commits on Sep 10, 2024

fixed logging bug that scaled with wrong dt
sheim
committed
69218dd

Commits on Sep 11, 2024

hardcode Jacobian (halves time for _apply_coupling)
sheim
committed
b1bd4f2

Commits on Nov 19, 2025

fixed config policy of osc
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08bb974
added option back in
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de3212e
large refactor to get osc working again
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c0bda90
copilot rev fixes
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ec524f6
two test fixes: 1) reward shape in osc, 2) underactuation in fixed_robot
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d9e2662
modernized ruff formatting (apparently...)
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3c4e6e5
redo regression test to be standalone instead of running via CI
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committed
0606552
remove self-hosted unit tests, add cheap tests (gym, learning)
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7cf29c7
change per-joint rewards to take the mean, to be more consistent across robots with different numbers of joints. Adjusted weights for mini_cheetah accordingly.
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c5a598f

Commits on Dec 10, 2025

merge in humanoid branch, which had some refactoring and bugfixes, including minor speedups
sheim
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2022c82
ruff
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2a7d1a1
ruff
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8b9fcb1
catch sample history bug
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1834328
Merge pull request #37 from sheim/merge_humanoid
sheim
authored
738b5d9

Commits on Mar 31, 2026

remove old unused robots
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b329655

Commits on Apr 2, 2026

claude Phase 0, separate isaacGym backend code from base_task, prepping for simulator port
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0153705
action plan and uv lock commited
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05a51de
update plan for details of phase 1
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302f0a6

Commits on Apr 7, 2026

WIP: works on CPU, not GPU (nvidia warp)
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5d4ba51
WIP: fixed works on gpu and cpu
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ebc2925

Commits on Apr 8, 2026

backend runs for CPU, GPU relies on warp and newer python, and different mujoco version. Changing to use newer version all around next.
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1bdd0d8
everything runs, but quadruped on GPU crashes partway through
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63b5b3d
good state, ready to test on macos
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92cb8e9
removed shims
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2e28f8d
fix device assignment
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973b8d5
update readme for macos
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0abf893

Commits on Apr 9, 2026

runs on mac
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bb8c981

Commits on Apr 20, 2026

dynamically adjusts n_steps_per_env to get appropriate batch size
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936a4cc
hook up wandb for train_mujoco
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6ef1f37

Commits on May 8, 2026

add play script
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45dcfc0
terminate on contact properly
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fba2deb

Commits on May 15, 2026

putting back mini cheetahs
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2c5d64d

Commits on May 18, 2026

WIP: fixed props writing
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committed
bfd6b2d
properly read in URDF joint limits
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2bc709b
reset some disabled configs
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4538b5e
update visuals based on menagerie
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83526ff
make sky background base setting
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afa8642
fix pendulum training, add some visualization
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95b9a6e

Commits on May 21, 2026

add keyboard interface
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894cded
update plan
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bc2bd96

Commits on Jun 23, 2026

initial ruff format
JoshuaTchou
committed
8708c56
hardcoded some warp model params for mini_cheetah to get around runtime warnings
JoshuaTchou
committed
831074e

Commits on Jun 24, 2026

moved hardcoding of MjModel params to MujocoBackendBase
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committed
b6a6923
ruff format
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d734220