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mrspmrsp
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Feature/owdy rl (#43)
* action * wip * ddpg * measurement logger * measurement binding * wip * replicate ekf in python * run through the data * automate the procedure * fix logging * run * timestamp fix? * fix timestamps * fix bindings * training * wip * more wip * progress * nis on contact * wip * fix pendulum * wip * add ppo * still no rl * ppo still doesn't work * ppo works * nitpick * log gt to mcap * use the gt in train * wip * one agent per end-effector * on python api * fix copy * full serow bindings * fix serow python bindings * wip * train run * wip * train/evaluate loop ok * on training * deterministic train/evaluate * almost there * wip in dynamic state initialization * refactoring * maybe it's the same? * revert conf * log joint state * add joint state read * running * on RL * fix training * open pr
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64 files changed

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‎.gitignore‎

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@@ -14,5 +14,5 @@ serow_layout.json:Zone.Identifier
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/python/serow/__pycache__/
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/python/build/
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/python/serow.egg-info/
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/python/serow/contact_ekf.cpython-310-x86_64-linux-gnu.so
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/python/serow/state.cpython-310-x86_64-linux-gnu.so
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/python/serow/serow.*.so
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/python/serow/policy/*

‎config/a1.json‎

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"T_base_to_odom": null,
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"enable_terrain_estimation": true,
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"terrain_estimator": "fast",
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"minimum_terrain_height_variance": 1e-3
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}
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": null,
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"log_dir": "/tmp/"
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}

‎config/anymal_b.json‎

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"T_base_to_odom": null,
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"enable_terrain_estimation": true,
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"terrain_estimator": "naive",
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"minimum_terrain_height_variance": 1e-3
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}
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": null,
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"log_dir": "/tmp/"
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}

‎config/estimation.json‎

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"terrain_estimator": "fast",
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// double: minimum terrain measurement uncertainty (m^2)
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// Only applies if enable_terrain_estimation = true
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"minimum_terrain_height_variance": 1e-3
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"minimum_terrain_height_variance": 1e-3,
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// array: rigid body transformation from base frame to ground truth frame. Can be null if no
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// ground truth is provided
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"T_base_to_ground_truth": null,
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// string: directory to save the log files
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"log_dir": "/tmp/"
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}

‎config/go1.json‎

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"T_base_to_odom": null,
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"enable_terrain_estimation": false,
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"terrain_estimator": "fast",
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"minimum_terrain_height_variance": 1e-3
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}
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": null,
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"log_dir": "/tmp/"
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}

‎config/go2.json‎

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"T_base_to_odom": null,
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"enable_terrain_estimation": true,
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"terrain_estimator": "fast",
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"minimum_terrain_height_variance": 1e-3
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}
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": [
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1.0,
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0.0,
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-0.03270961,
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-0.00222456,
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1.0,
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-0.01544948,
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0.0,
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1.0
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],
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"log_dir": "/tmp/"
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}

‎config/go2_rl.json‎

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{
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"base_frame": "base",
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"point_feet": true,
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"foot_frames": {
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"0": "FL_foot",
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"1": "FR_foot",
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"2": "RL_foot",
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"3": "RR_foot"
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},
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"model_path": "go2.urdf",
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"g": 9.81,
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"joint_rate": 500.0,
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"estimate_joint_velocity": true,
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"joint_cutoff_frequency": 15.0,
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"joint_position_variance": 0.001,
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"angular_momentum_cutoff_frequency": 5.0,
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"tau_0": 0.1,
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"tau_1": 0.0,
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"imu_rate": 500.0,
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"R_base_to_gyro": [
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1.0,
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-1.0,
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0.0,
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0.0,
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0.0,
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-1.0
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],
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"R_base_to_acc": [
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1.0,
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0.0,
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-1.0,
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0.0,
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-1.0
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],
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"calibrate_initial_imu_bias": false,
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"max_imu_calibration_cycles": 1000,
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"bias_gyro": [
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0.0,
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0.0
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],
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"bias_acc": [
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0.0,
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],
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"gyro_cutoff_frequency": 5.0,
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"force_torque_rate": 500.0,
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"R_foot_to_force": {
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"0": [
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1.0,
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0.0,
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0.0,
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1.0,
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0.0,
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1.0
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],
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"1": [
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1.0,
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],
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"2": [
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1.0,
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1.0,
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],
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"3": [
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1.0,
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1.0,
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]
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},
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"R_foot_to_torque": null,
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"attitude_estimator_proportional_gain": 0.1,
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"attitude_estimator_integral_gain": 0.0,
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"estimate_contact_status": true,
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"high_threshold": 4.0,
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"low_threshold": 2.0,
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"median_window": 13,
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"outlier_detection": true,
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"convergence_cycles": 100,
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"imu_angular_velocity_covariance": [
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5e-5,
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5e-5,
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5e-5
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],
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"imu_angular_velocity_bias_covariance": [
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1e-8,
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1e-8,
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1e-8
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],
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"imu_linear_acceleration_covariance": [
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5e-3,
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5e-3,
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5e-3
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],
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"imu_linear_acceleration_bias_covariance": [
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1e-8,
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1e-8,
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1e-8
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],
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"use_contacts_in_base_estimation": true,
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"base_linear_velocity_covariance": [
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5e-3,
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5e-3
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],
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"base_orientation_covariance": [
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1e-3,
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],
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"contact_position_covariance": [
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5e-6,
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],
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"contact_orientation_covariance": null,
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"contact_position_slip_covariance": [
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1e-6,
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1e-6,
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1e-6
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],
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"contact_orientation_slip_covariance": null,
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"com_position_process_covariance": [
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1e-6,
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1e-6,
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1e-6
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],
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"com_linear_velocity_process_covariance": [
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1e-4,
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1e-4,
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1e-4
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],
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"external_forces_process_covariance": [
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1e-1,
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1e-1,
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1e-1
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],
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"com_position_covariance": [
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1e-6,
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1e-6,
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1e-6
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],
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"com_linear_acceleration_covariance": [
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1e-2,
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1e-2,
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1e-2
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],
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"initial_base_position_covariance": [
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1e-4,
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1e-4,
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1e-4
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],
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"initial_base_orientation_covariance": [
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1e-6,
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1e-6,
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1e-6
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],
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"initial_base_linear_velocity_covariance": [
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1e-3,
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1e-3,
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1e-3
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],
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"initial_contact_position_covariance": [
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1e-6,
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1e-6,
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1e-6
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],
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"initial_contact_orientation_covariance": null,
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"initial_imu_linear_acceleration_bias_covariance": [
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1e-4,
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1e-4,
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1e-4
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],
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"initial_imu_angular_velocity_bias_covariance": [
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1e-4,
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1e-4,
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1e-4
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],
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"initial_com_position_covariance": [
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1e-6,
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1e-6,
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1e-6
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],
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"initial_com_linear_velocity_covariance": [
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1e-3,
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1e-3,
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1e-3
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],
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"initial_external_forces_covariance": [
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1.0,
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1.0,
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1.0
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],
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"T_base_to_odom": null,
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"enable_terrain_estimation": false,
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"terrain_estimator": "fast",
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": null,
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"log_dir": "/tmp/serow_logs"
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}

‎config/h1.json‎

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],
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"enable_terrain_estimation": true,
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"terrain_estimator": "fast",
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"minimum_terrain_height_variance": 1e-3
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}
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": null,
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"log_dir": "/tmp/"
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}

‎config/nao.json‎

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"T_base_to_odom": null,
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"enable_terrain_estimation": false,
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"terrain_estimator": "fast",
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"minimum_terrain_height_variance": 1e-3
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}
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": null,
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"log_dir": "/tmp/"
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}

‎config/valkyrie.json‎

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],
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"enable_terrain_estimation": false,
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"terrain_estimator": "fast",
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"minimum_terrain_height_variance": 1e-3
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}
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"minimum_terrain_height_variance": 1e-3,
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"T_base_to_ground_truth": null,
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"log_dir": "/tmp/"
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}

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