Update quadruped envs and procedural generated floor texture #279
Conversation
This file contains 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
Member
StoneT2000
commented
Apr 20, 2024
StoneT2000
commented
- pending new pypi release of sapien
* version bump * copy code over * refactor xmate3 * Update xmate3.py * Changed Replay Trajectory to add options to record rewards as well as specify reward mode (#177) * Added reward mode argument and record rewards argument to replay trajectory * Fixed an error --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Stone Tao <[email protected]> * merge in refactor and updates for utils * merge in changes for trajectory * merge new examples * merge new env code, refactors + new scene builder api * merge new agents code * merge code for new assets, floors etc. * Update __init__.py * Delete README.md --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Arnav G <[email protected]>
- fix bug where some files were missing for franka for motion planning code - fix bug that required user to have ai2 assets - update floor tiles
* Progress: Fetch mobile base * fix * fix * unfinished: integrate into gpu sim stuff * Fix: gpu sim compatibility issues * Fix: fetch sensor cfg * Fix: pd_ee_pose controller ik, env step cpu sim output, utils, fetch pose * Fix: fetch is_grasping cpu sim
* fix a few envs, mark pick clutter as to be fixed in the future. * code refactor * fix some batching code, only reset and step return numpy on cpu mode * format code * code formatting * remove a lot of unused variables
* update template * add minimal pick cube task with "task sheet" * task sheets * init * fix some bugs * auto batch actions before processing * init * work * bug fix * Update visual_all_envs_cpu.py * code golfing * Update sapien_env.py * update some tests * Update vec_env.py * formatting
commit 27101d4bdc4bd98451ed38d209045b36794288a9 Author: Stone Tao <[email protected]> Date: Tue Jan 23 18:12:03 2024 -0800 fix some bugs with fetch
* work * sac impl * update template * add minimal pick cube task with "task sheet" * task sheets * work * work * work * fix templates * using torch rng * use torch rng * batched uniform sampler, stack cube v1 task * fix bugs with scene masking, merge_actors function * Update pick_single_ycb.py * Update pick_single_ycb.py * bug fixes * stack cube task bug fix * refactor, appending hidden_objects list allows handling of hiding e.g. goal sites * WIP work * Revert "WIP work" This reverts commit 9a6710f.
* work * sac impl * update template * add minimal pick cube task with "task sheet" * task sheets * work * work * work * fix templates * using torch rng * use torch rng * batched uniform sampler, stack cube v1 task * fix bugs with scene masking, merge_actors function * Update pick_single_ycb.py * Update pick_single_ycb.py * bug fixes * stack cube task bug fix * refactor, appending hidden_objects list allows handling of hiding e.g. goal sites * WIP work * Revert "WIP work" This reverts commit 9a6710f. * Revert "Revert "WIP work"" This reverts commit dcb3a5f. * refactor some code, cache some properties, batch some properties * fix naming of joints and links to also be prepended by scene-{i} * bug fixes. Disable some functionality via a ._merged bool * disable hand camera on panda (people should use the real sense panda config * fix some setters * work * cache property for body data indices, it is now auto computed for user * work * change default value for static as resting objects still have a minor amount of angular rotation at times * code updates * decorator to assert error when gpu is initialized for calling functions user should not call. * Update actor.py * bug fixes * work * new utility functions for getting desired meshes, fixed goal site place * performance improvements, swap obs and info * Update __init__.py * Update articulation.py * Update pick_single_ycb.py * update documentation * tuned max episode steps for faster PPO * use memory leak free new sapien and new buffer access api, fix controller reconfigure * bug fixes, new tests * test * more bug fixes * work * add velocity target control gpu support. perf improvements for indexing articulation related things. Fix some bugs * Update base_controller.py * fix collision setting bugs * apply vel * fix self collision bugs * fix gymnasium vector env wrapper to ignore the timelimit wrapper * clean up * fixes * linkmerging * bug fix * work * better camera angles * work * bug fixes * code clean up with new wrappers
* cleaner benchmarking code * code init * Update benchmark_cpu_sim.py * Update benchmark_gpu_sim.py * basic profiler * update benchmark code * code update * Update README.md * Fix: fetch is_static --------- Co-authored-by: arth-shukla <[email protected]>
* cleanup * remove old tasks * cleanup * refactor * work * more tests * fix tests
* First commit of VisualEncoder Add necessary files * Try to deal with ConnectionResetError by changing wrappers location * Change wrappers * Removed tyro * Change filename to lowercase * work and add tests * Delete ppo_liftcube_VisualEncoder.py * fixes --------- Co-authored-by: itsygao <[email protected]> Co-authored-by: ygaoproj <[email protected]>
…ntrol, New QoL features for joints (#273) * move controller config setup after articulation is loaded for robots to give user access to active joints easily * change fix_root_link to be a agent property * work * work * fixes * Update mjcf_loader.py * work * code cleanup, use joint pos correctly * work * fixes * work * a1 loading test * Update _mjcf_loader.py * support loading other objects in xml * cartpole task implemented from xml * cart pole task, fetch qpos by joint * work * docs * fix controllers, use disable gravity to balance passive forces on CPU and GPU. * Update sapien_env.py * more runtime errors * tuned ppo for cartpole
* work * cleaner code * init * fix urdf mesh paths * provide a typical "standing" keyframe * fix a few files * some useful scripts * work * new envs, simplified contact version of h1 robot * work
* work * cleaner code * work * work * Update custom_robots.md * Update custom_robots.md * Update controllers.md
* default_sim_cfg -> default_sim_config to follow semantics of other code * _sensor_configs->_default_sensor_configs, _human_render_camera_configs->_default_human_render_camera_configs * remove _parsed * remove OrderedDict in favor of dict and removing old code
…ated checkerboard
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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.