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Mujoco Env #1511

Merged
merged 40 commits into from
Dec 3, 2024
Merged

Mujoco Env #1511

merged 40 commits into from
Dec 3, 2024

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schluis
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@schluis schluis commented Nov 22, 2024 •
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Why? What?

  • Adds (slightly modified) Nao Mujoco model by @ahasselbring
  • Adds Mujoco env NaoStandup

Ideas for Next Iterations (Not This PR)

  • Fix absolute paths

How to Test

  • run uv run standup.py
  • run uv run interactive_viewer.py

schmidma and others added 28 commits November 24, 2024 09:46
@schmidma @schluis
add first iteration nao model
c74ef36
@schluis
add uv venv
9abac0c
@schluis
record videos
f639bc0
@schluis
fix dependencies
2493343
@schluis
change solver, add more options to naoxml
8e571b9
@schluis
fix dependencies (really)
6d1a76c
@schluis
add nao_standup env
8631789
@schluis
add test script
a75a86c
@schluis
fix dependencies (really2)
aa0b0fe
@schluis
improve nao env
394cd83
@schluis
use nao in scripts
7cccd5e
@schluis
use face-down keyframe for standup
869662a
@schluis
improve naming
6ada11c
@schluis
tune motors
f065f23
@schluis
add interactive script, fix joint ranges
65cbff3
@schluis
limit arms
5b9cad4
@schluis
add tensorboard, better video naming
6b6d192
@schluis
improve feet, improve body
a40e704
@schluis
add wandb
22f0831
@schluis
add site head_center and use in reward
4cc4348
@schluis
add power-unlimited nao
53f08d5
@schluis @ahasselbring
use bhuman model, update env
7889612 
Co-authored-by: Arne Hasselbring <[email protected]>
@schluis
add face-down keyframe
c86be99
@schluis
add site head_center
37a8d2f
@schluis
fix reward xpos
bfa0883
@schluis
fix reward xpos
1b89d46
@schluis
use named access for site head_center
06f781c
@schluis
rename env
4818404
schluis and others added 3 commits November 27, 2024 16:32
@schluis
remove redundant model
f18d733
@schluis @oleflb
Add interactive_viewer
ee00602 
Co-authored-by: oleflb <[email protected]>
Co-authored-by: chatgpt <chatgpt>
@schluis @oleflb
Use external model
c4e050a 
Co-authored-by: oleflb <[email protected]>
ThagonDuarte
ThagonDuarte requested changes Dec 1, 2024
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I've made some comments. Other than that, this looks good!

tools/machine-learning/mujoco/interactive_viewer.py Show resolved Hide resolved
tools/machine-learning/mujoco/README.md Show resolved Hide resolved
tools/machine-learning/mujoco/test_script.py Outdated Show resolved Hide resolved
ThagonDuarte
ThagonDuarte approved these changes Dec 3, 2024
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LGTM

@schluis schluis added this pull request to the merge queue Dec 3, 2024
Merged via the queue into HULKs:main with commit 6784696 Dec 3, 2024
24 checks passed
@schluis schluis deleted the mujoco branch December 3, 2024 15:53
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@ThagonDuarte ThagonDuarte ThagonDuarte approved these changes

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3 participants
@schluis @ThagonDuarte @schmidma