utra-robosoccer/bez_isaacgym

Isaac Gym Reinforcement Learning Environments for humanoid robot Bez

bez_isaacgym's Issues

Implement a stage before kick for the foot to raise

Need to measure the z of the foot link

Make a centralized test

Into

1. Normal usage
2. policy
3. Maybe Policy with Ball

Run imu, feet, off_orn on gpu

Implement more sensor noise and probability

Talk to shahryar

Import observation function from pybullet

Setup RL games learning enviroment

Integrate a test for walking engine

Test imu configuration

Checklist:

• Verify calculations
• Verify webots
• Verify Isaac Sim

Implement off_orn in ROS

Add amcl_pose, but possible not needed

Finish enviroment setup

Reset
Prephysics
postphysics
observation
reward

Update to 1.04

Checklist:

• Update RL-Games
• Update policy player
• Update utils
• Verify with examples
• [ ]

Import Hydra and tensorboards

Train a model

Port testing setup into Isaac Sim

Checklist:

• Import model
• Import terrain (optional)
• Integrate codebase

Reorganize CFG files

Checklist:

• Modify the base to accept another cfg
• Split cfg into base and task
• Update kick
• Update walk
• Add orient
• Add getup
• add getback
• add goalie

Integrate walking engine

Convert trajectory and walk engine for ros usage

Import rewards function from pybullet

Get robot and setup environment

Clean up Enviroments

Checklist:

• Create a base for Bez
• Create a base for Bez with ball
• rewrite kick
• rewrite walk
• add orient
• add getup
• add getback
• add goalie

Investigate IMU difference from webots

Look at reference frame and how fravity is being used in the current model

https://forums.developer.nvidia.com/t/raw-accelerometer-gyroscope-magnetometer/200012

Import IMU function from pybullet

Test training a model

Investigate Reset function in enviroment and the dependancy on computing the observation vector

Train demo models

Checklist:

• Kick
• Walk
• Orient
• Getup
• Getback
• Goalie

Import Foot pressure sensor function from pybullet

Parallelization problems

Keep getting: Illegal Cuda memory access
when trying to run more than one environment

Investigate physics

Feet rotate when fixed position
Torque is not moving arm even when physics is disabled
Can't hold a motor position

Create a proper README file

Implement randomized pushes

Look at anymal terrain

Explore more domain randomization methods

randomize the frictionof the ground,
add noise to the observations
randomly push the robots during the episode to teach them a more stable stance.
Each robot has a friction coefficient sampled uniformly in [0.5,
1.25].
The pushes happen every 10 s.
The robots’ base is accelerated up to ±1 m/s in both x and y directions.

Import Isaacgym 1.03

Rigid bodies have different numbers and names when compared to the asset info example

made collapsefixedjoints = False