add task

legged_gym/envs/__init__.py

@@ -2,9 +2,11 @@ from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
 
 from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
 from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
+from legged_gym.envs.h1_2.h1_2_config import H1_2RoughCfg, H1_2RoughCfgPPO
 from .base.legged_robot import LeggedRobot
 
 from legged_gym.utils.task_registry import task_registry
 
 task_registry.register("go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
 task_registry.register("h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
+task_registry.register("h1_2", LeggedRobot, H1_2RoughCfg(), H1_2RoughCfgPPO())

legged_gym/envs/h1_2/h1_2_config.py

@@ -0,0 +1,121 @@
+from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
+
+
+class H1_2RoughCfg(LeggedRobotCfg):
+
+    class init_state(LeggedRobotCfg.init_state):
+        pos = [0.0, 0.0, 1.0]  # x,y,z [m]
+        default_joint_angles = { # = target angles [rad] when action = 0.0
+            'left_hip_yaw_joint': 0,
+            'left_hip_roll_joint': 0,
+            'left_hip_pitch_joint': -0.6,
+            'left_knee_joint': 1.2,
+            'left_ankle_pitch_joint': -0.6,
+            'left_ankle_roll_joint': 0.0,
+
+            'right_hip_yaw_joint': 0,
+            'right_hip_roll_joint': 0,
+            'right_hip_pitch_joint': -0.6,
+            'right_knee_joint': 1.2,
+            'right_ankle_pitch_joint': -0.6,
+            'right_ankle_roll_joint': 0.0,
+
+            'torso_joint': 0,
+
+            'left_shoulder_pitch_joint': 0.4,
+            'left_shoulder_roll_joint': 0,
+            'left_shoulder_yaw_joint': 0,
+            'left_elbow_pitch_joint': 0.3,
+
+            'right_shoulder_pitch_joint': 0.4,
+            'right_shoulder_roll_joint': 0,
+            'right_shoulder_yaw_joint': 0,
+            'right_elbow_pitch_joint': 0.3,
+        }
+
+    class env(LeggedRobotCfg.env):
+        num_actions = 21
+        num_observations = 12 + num_actions * 3
+        num_envs = 8192
+
+    class control(LeggedRobotCfg.control):
+        # PD Drive parameters:
+        control_type = 'P'
+        # PD Drive parameters:
+        stiffness = {
+            'hip_yaw_joint': 200.,
+            'hip_roll_joint': 200.,
+            'hip_pitch_joint': 200.,
+            'knee_joint': 300.,
+            'ankle_pitch_joint': 60.,
+            'ankle_roll_joint': 40.,
+            'torso_joint': 600.,
+            'shoulder_pitch_joint': 80.,
+            'shoulder_roll_joint': 80.,
+            'shoulder_yaw_joint': 40.,
+            'elbow_pitch_joint': 60.,
+        }  # [N*m/rad]
+        damping = {
+            'hip_yaw_joint': 5.0,
+            'hip_roll_joint': 5.0,
+            'hip_pitch_joint': 5.0,
+            'knee_joint': 7.5,
+            'ankle_pitch_joint': 1.0,
+            'ankle_roll_joint': 0.3,
+            'torso_joint': 15.0,
+            'shoulder_pitch_joint': 2.0,
+            'shoulder_roll_joint': 2.0,
+            'shoulder_yaw_joint': 1.0,
+            'elbow_pitch_joint': 1.0,
+        }  # [N*m/rad]  # [N*m*s/rad]
+        # action scale: target angle = actionScale * action + defaultAngle
+        action_scale = 0.25
+        # decimation: Number of control action updates @ sim DT per policy DT
+        decimation = 10
+
+    class asset(LeggedRobotCfg.asset):
+        file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/h1_2_simplified.urdf'
+        name = "h1_2"
+        foot_name = "ankle_roll"
+        penalize_contacts_on = []
+        terminate_after_contacts_on = []
+        self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter
+        flip_visual_attachments = False
+        armature = 6e-4  # stablize semi-euler integration for end effectors
+
+    class sim(LeggedRobotCfg.sim):
+        dt = 0.002  # stablize semi-euler integration for end effectors
+
+    class rewards(LeggedRobotCfg.rewards):
+        soft_dof_pos_limit = 0.9
+        base_height_target = 0.98
+
+        class scales(LeggedRobotCfg.rewards.scales):
+            tracking_lin_vel = 1.0
+            tracking_ang_vel = 0.5
+            lin_vel_z = -0.2
+            ang_vel_xy = -0.1
+            orientation = -0.1
+            base_height = -10.0
+            dof_acc = -3.5e-9
+            feet_air_time = 1.0
+            collision = 0.0
+            action_rate = -0.001
+            torques = 0.0
+            dof_pos_limits = -1.0
+        
+        only_positive_rewards = False # if true negative total rewards are clipped at zero (avoids early termination problems)
+    
+    class normalization(LeggedRobotCfg.normalization):
+        clip_actions = 10.0
+
+
+class H1_2RoughCfgPPO(LeggedRobotCfgPPO):
+
+    class policy(LeggedRobotCfgPPO.policy):
+        init_noise_std = 0.3
+        activation = 'tanh'
+
+    class runner(LeggedRobotCfgPPO.runner):
+        run_name = ''
+        experiment_name = 'h1_2'

legged_gym/scripts/play.py

@@ -1,5 +1,4 @@
 import sys
-sys.path.append("/home/unitree/unitree_rl_gym")
 from legged_gym import LEGGED_GYM_ROOT_DIR
 import os
 

legged_gym/scripts/train.py

@@ -2,7 +2,6 @@ import numpy as np
 import os
 from datetime import datetime
 import sys
-sys.path.append("/home/unitree/unitree_rl_gym/")
 
 import isaacgym
 from legged_gym.envs import *

legged_gym/utils/task_registry.py

@@ -4,7 +4,6 @@ from typing import Tuple
 import torch
 import numpy as np
 import sys
-sys.path.append("/home/unitree/unitree_rl_gym/rsl_rl")
 
 from rsl_rl.env import VecEnv
 from rsl_rl.runners import OnPolicyRunner

setup.py

@@ -0,0 +1,11 @@
+from setuptools import find_packages
+from distutils.core import setup
+
+setup(name='unitree_rl_gym',
+      version='1.0.0',
+      author='Unitree Robotics',
+      license="BSD-3-Clause",
+      packages=find_packages(),
+      author_email='support@unitree.com',
+      description='Template RL environments for Unitree Robots',
+      install_requires=['isaacgym', 'rsl-rl', 'matplotlib', 'numpy==1.20', 'tensorboard'])