134 lines
6.9 KiB
Python
134 lines
6.9 KiB
Python
import numpy as np
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from os import path as osp
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from legged_gym.envs.a1.a1_field_config import A1FieldCfg, A1FieldCfgPPO
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from legged_gym.utils.helpers import merge_dict
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class A1LeapCfg( A1FieldCfg ):
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### uncomment this to train non-virtual terrain
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class sensor( A1FieldCfg.sensor ):
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class proprioception( A1FieldCfg.sensor.proprioception ):
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latency_range = [0.04-0.0025, 0.04+0.0075]
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### uncomment the above to train non-virtual terrain
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class terrain( A1FieldCfg.terrain ):
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max_init_terrain_level = 2
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border_size = 5
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slope_treshold = 20.
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curriculum = True
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BarrierTrack_kwargs = merge_dict(A1FieldCfg.terrain.BarrierTrack_kwargs, dict(
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options= [
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"leap",
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],
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leap= dict(
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length= (0.2, 0.8),
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depth= (0.4, 0.8),
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height= 0.12,
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),
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virtual_terrain= True, # Change this to False for real terrain
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no_perlin_threshold= 0.1,
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))
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TerrainPerlin_kwargs = merge_dict(A1FieldCfg.terrain.TerrainPerlin_kwargs, dict(
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zScale= [0.05, 0.15],
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))
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class commands( A1FieldCfg.commands ):
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class ranges( A1FieldCfg.commands.ranges ):
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lin_vel_x = [1.0, 1.5]
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lin_vel_y = [0.0, 0.0]
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ang_vel_yaw = [0., 0.]
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class termination( A1FieldCfg.termination ):
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# additional factors that determines whether to terminates the episode
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termination_terms = [
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"roll",
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"pitch",
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"z_low",
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"z_high",
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"out_of_track",
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]
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roll_kwargs = merge_dict(A1FieldCfg.termination.roll_kwargs, dict(
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threshold= 0.4,
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leap_threshold= 0.4,
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))
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z_high_kwargs = merge_dict(A1FieldCfg.termination.z_high_kwargs, dict(
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threshold= 2.0,
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))
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class domain_rand( A1FieldCfg.domain_rand ):
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init_base_rot_range = dict(
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roll= [-0.1, 0.1],
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pitch= [-0.1, 0.1],
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)
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class rewards( A1FieldCfg.rewards ):
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class scales:
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tracking_ang_vel = 0.05
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world_vel_l2norm = -1.
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# legs_energy_substeps = -8e-6
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alive = 2.
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penetrate_depth = -1e-2
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penetrate_volume = -1e-2
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exceed_dof_pos_limits = -4e-1
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exceed_torque_limits_l1norm = -8e-1
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# feet_contact_forces = -1e-2
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torques = -2e-5
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collision = -0.5
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lin_pos_y = -0.1
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yaw_abs = -0.1
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soft_dof_pos_limit = 0.5
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class curriculum( A1FieldCfg.curriculum ):
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penetrate_volume_threshold_harder = 9000
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penetrate_volume_threshold_easier = 10000
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penetrate_depth_threshold_harder = 300
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penetrate_depth_threshold_easier = 5000
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logs_root = osp.join(osp.dirname(osp.dirname(osp.dirname(osp.dirname(osp.abspath(__file__))))), "logs")
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class A1LeapCfgPPO( A1FieldCfgPPO ):
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class algorithm( A1FieldCfgPPO.algorithm ):
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entropy_coef = 0.0
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clip_min_std = 0.2
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class runner( A1FieldCfgPPO.runner ):
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policy_class_name = "ActorCriticRecurrent"
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experiment_name = "field_a1"
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resume = True
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load_run = "{Your traind walking model directory}"
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load_run = "{Your virtually trained leap model directory}"
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# load_run = osp.join(logs_root, "field_a1_oracle/Jun04_01-03-59_Skills_leap_pEnergySubsteps2e-6_rAlive2_pPenV4e-3_pPenD4e-3_pPosY0.20_pYaw0.20_pTorqueExceedSquare1e-3_leapH0.2_propDelay0.04-0.05_noPerlinRate0.2_aScale0.5")
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# load_run = "Sep27_02-44-48_Skills_leap_propDelay0.04-0.05_pDofLimit8e-01_pCollision0.1_kp40_kd0.5fromJun04_01-03-59"
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# load_run = osp.join(logs_root, "field_a1_noTanh_oracle", "Sep27_14-56-25_Skills_leap_propDelay0.04-0.05_pEnergySubsteps-8e-06_pDofLimit8e-01_pCollision0.1_kp40_kd0.5fromSep27_02-44-48")
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# load_run = osp.join(logs_root, "field_a1_noTanh_oracle", "Oct05_02-16-22_Skills_leap_propDelay0.04-0.05_pEnergySubsteps-8e-06_pPenD8.e-3_pDofLimit4e-01_pCollision0.5_kp40_kd0.5fromSep27_14-56-25")
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load_run = osp.join(logs_root, "field_a1_noTanh_oracle", "Oct09_09-51-58_Skills_leap_propDelay0.04-0.05_pEnergySubsteps-8e-06_pPenD1.e-2_pDofLimit4e-01_pCollision0.5_kp40_kd0.5fromOct05_02-16-22")
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run_name = "".join(["Skills_",
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("Multi" if len(A1LeapCfg.terrain.BarrierTrack_kwargs["options"]) > 1 else (A1LeapCfg.terrain.BarrierTrack_kwargs["options"][0] if A1LeapCfg.terrain.BarrierTrack_kwargs["options"] else "PlaneWalking")),
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("_comXRange{:.1f}-{:.1f}".format(A1LeapCfg.domain_rand.com_range.x[0], A1LeapCfg.domain_rand.com_range.x[1])),
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("_noLinVel" if not A1LeapCfg.env.use_lin_vel else ""),
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("_propDelay{:.2f}-{:.2f}".format(
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A1LeapCfg.sensor.proprioception.latency_range[0],
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A1LeapCfg.sensor.proprioception.latency_range[1],
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) if A1LeapCfg.sensor.proprioception.delay_action_obs else ""
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),
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("_pEnergySubsteps{:.0e}".format(A1LeapCfg.rewards.scales.legs_energy_substeps) if getattr(A1LeapCfg.rewards.scales, "legs_energy_substeps", -2e-6) != -2e-6 else ""),
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("_pTorques" + np.format_float_scientific(-A1LeapCfg.rewards.scales.torques, precision=1, exp_digits=1) if getattr(A1LeapCfg.rewards.scales, "torques", 0.) != -0. else ""),
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# ("_pPenD" + np.format_float_scientific(-A1LeapCfg.rewards.scales.penetrate_depth, precision=1, exp_digits=1) if A1LeapCfg.rewards.scales.penetrate_depth != -4e-3 else ""),
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# ("_pYaw{:.1f}".format(-A1LeapCfg.rewards.scales.yaw_abs) if getattr(A1LeapCfg.rewards.scales, "yaw_abs", 0.) != 0. else ""),
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# ("_pDofLimit{:.0e}".format(-A1LeapCfg.rewards.scales.exceed_dof_pos_limits) if getattr(A1LeapCfg.rewards.scales, "exceed_dof_pos_limits", 0.) != 0. else ""),
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# ("_pCollision{:.1f}".format(-A1LeapCfg.rewards.scales.collision) if getattr(A1LeapCfg.rewards.scales, "collision", 0.) != 0. else ""),
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("_pContactForces" + np.format_float_scientific(-A1LeapCfg.rewards.scales.feet_contact_forces, precision=1, exp_digits=1) if getattr(A1LeapCfg.rewards.scales, "feet_contact_forces", 0.) != 0. else ""),
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("_leapHeight{:.1f}".format(A1LeapCfg.terrain.BarrierTrack_kwargs["leap"]["height"]) if A1LeapCfg.terrain.BarrierTrack_kwargs["leap"]["height"] != 0.2 else ""),
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# ("_kp{:d}".format(int(A1LeapCfg.control.stiffness["joint"])) if A1LeapCfg.control.stiffness["joint"] != 50 else ""),
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# ("_kd{:.1f}".format(A1LeapCfg.control.damping["joint"]) if A1LeapCfg.control.damping["joint"] != 0. else ""),
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("_noDelayActObs" if not A1LeapCfg.sensor.proprioception.delay_action_obs else ""),
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("_noTanh"),
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("_virtual" if A1LeapCfg.terrain.BarrierTrack_kwargs["virtual_terrain"] else ""),
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("_noResume" if not resume else "from" + "_".join(load_run.split("/")[-1].split("_")[:2])),
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])
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max_iterations = 20000
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save_interval = 500
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