Cdx - #41
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…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
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Finished migration to mujoco + vsim, and removed isaacGym fully.