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Add student project for khr deep mimic #4

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ojh6404 Jul 6, 2023
9d05b48
add readme
ojh6404 Jul 6, 2023
207744f
Update README.md
ojh6404 Jul 6, 2023
5f4494d
Fix README.md
ojh6404 Jul 6, 2023
c81c4b9
add motion retarget and scripts for training running motion
ojh6404 Jul 14, 2023
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11 changes: 11 additions & 0 deletions student_projects/oh_jihoon_48226507/.gitignore
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.DS_Store
.idea
*.log
tmp/

*.py[cod]
*.egg
build
htmlcov

*.bvh
29 changes: 29 additions & 0 deletions student_projects/oh_jihoon_48226507/README.md
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# KHR Deep Mimic

Project for KHR robot locomotion with Deep Mimic.


![](asset/khr_mimic.gif)
## Prepare
Tested on Ubuntu 20.04 (probably no problem with 18.04 and MacOS cause they support mujoco and mujoco-py).

### Setup
- Install and setup Mujoco210 and mujoco-py environment following this [link](https://gist.githubusercontent.com/saratrajput/60b1310fe9d9df664f9983b38b50d5da/raw/4b3ab6af7de1f336f75fbfa0d93116e8d5d1bbc4/mujoco_py_install_instructions.md).
- Then, install python requirements below.
```bash
pip install -r requirements.txt
```
### Run
- Train
```bash
python3 scripts/train.py --n_env 8 --et --control_type torque
```
- Run pretrained policy (trained for 6 hours)
```bash
python3 scripts/train.py --et --control_type torque --what test --trial 17
```

## TODO
- Tidy up train and sim code
- Upload motion retargeting and processing code (using pybullet)
- More diverse motion
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22 changes: 22 additions & 0 deletions student_projects/oh_jihoon_48226507/models/KHR/KHR.xml
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<mujoco model="KHR">
<!--
This file is automatically created from ("KHR") model by eus2mjcf.l.
-->
<compiler angle="radian" convexhull="true"/>
<!-- <option timestep="0.002" iterations="50" tolerance="1.000000e-10" solver="Newton" jacobian="dense" cone="pyramidal"/> -->
<option timestep="0.002" />
<default>
<!-- <geom condim="3" solref="0.02 1.0"/> -->
<joint frictionloss="0.2" armature="0.011"/>
</default>
<!-- <size nconmax="1000" njmax="5000" nstack="1000000"/> -->
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom name="floor" pos="0 0 0" size="10 10 1" type="plane" material="matplane" condim="3"/>
</worldbody>
<asset>
<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .6 .8" rgb2=".2 0.3 0.4" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<include file="KHRinc.xml"/>
</mujoco>
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<mujocoinclude>
<!--
This file is automatically created from "KHR" model by eus2mjcf.l.
-->
<asset>
<mesh name="KHR_BODY_0_mesh" file="meshes/BODY_0_mesh.stl"/>
<mesh name="KHR_RLEG_LINK0_0_mesh" file="meshes/RLEG_LINK0_0_mesh.stl"/>
<mesh name="KHR_RLEG_LINK1_0_mesh" file="meshes/RLEG_LINK1_0_mesh.stl"/>
<mesh name="KHR_RLEG_LINK2_0_mesh" file="meshes/RLEG_LINK2_0_mesh.stl"/>
<mesh name="KHR_RLEG_LINK3_0_mesh" file="meshes/RLEG_LINK3_0_mesh.stl"/>
<mesh name="KHR_RLEG_LINK4_0_mesh" file="meshes/RLEG_LINK4_0_mesh.stl"/>
<mesh name="KHR_LLEG_LINK0_0_mesh" file="meshes/LLEG_LINK0_0_mesh.stl"/>
<mesh name="KHR_LLEG_LINK1_0_mesh" file="meshes/LLEG_LINK1_0_mesh.stl"/>
<mesh name="KHR_LLEG_LINK2_0_mesh" file="meshes/LLEG_LINK2_0_mesh.stl"/>
<mesh name="KHR_LLEG_LINK3_0_mesh" file="meshes/LLEG_LINK3_0_mesh.stl"/>
<mesh name="KHR_LLEG_LINK4_0_mesh" file="meshes/LLEG_LINK4_0_mesh.stl"/>
<mesh name="KHR_RARM_LINK0_0_mesh" file="meshes/RARM_LINK0_0_mesh.stl"/>
<mesh name="KHR_RARM_LINK1_0_mesh" file="meshes/RARM_LINK1_0_mesh.stl"/>
<mesh name="KHR_RARM_LINK2_0_mesh" file="meshes/RARM_LINK2_0_mesh.stl"/>
<mesh name="KHR_LARM_LINK0_0_mesh" file="meshes/LARM_LINK0_0_mesh.stl"/>
<mesh name="KHR_LARM_LINK1_0_mesh" file="meshes/LARM_LINK1_0_mesh.stl"/>
<mesh name="KHR_LARM_LINK2_0_mesh" file="meshes/LARM_LINK2_0_mesh.stl"/>
<mesh name="KHR_HEAD_LINK0_0_mesh" file="meshes/HEAD_LINK0_0_mesh.stl"/>
</asset>
<worldbody>
<!-- <body name="BODY" pos="0.0 0.0 0.283742"> -->
<body name="BODY" pos="0.0 0.0 0.295">
<inertial pos="-0.025246 0.0 0.017693" quat="1.0 0.0 0.0 0.0" mass="0.3375" diaginertia="0.014489 0.013812 0.009164"/>
<joint name="root" type="free"/>
<geom name="body_link_mesh" pos="0 0 0" type="mesh" mesh="KHR_BODY_0_mesh" rgba="0.5 0.5 0.5 1.0"/>

<site name="imu" pos="0 0 0"/>

<body name="RLEG_LINK0" pos="0.018517 -0.017 -0.06265">
<inertial pos="-0.021734 -0.011506 -0.014091" mass="0.0699" fullinertia="1.677061e-05 1.593509e-05 8.901412e-06 3.090629e-07 -9.063682e-08 -1.858810e-07"/>
<joint name="rleg_joint0" pos="0 0 0" axis="1.0 0.0 0.0" limited="true" range="-0.499513 0.679172" damping="0.2"/>
<geom name="rleg_link0_mesh" pos="0 0 0" type="mesh" mesh="KHR_RLEG_LINK0_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="RLEG_LINK1" pos="-0.0192 0.00825 -0.0385">
<inertial pos="0.002871 -0.018978 -0.033258" mass="0.1031" fullinertia="5.536819e-05 5.496839e-05 1.572300e-05 1.797274e-07 1.504320e-07 -1.263233e-07"/>
<joint name="rleg_joint1" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-2.07933 2.08228" damping="0.2"/>
<geom name="rleg_link1_mesh" pos="0 0 0" type="mesh" mesh="KHR_RLEG_LINK1_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="RLEG_LINK2" pos="4.440892e-19 0.0 -0.065">
<inertial pos="0.003613 -0.016674 -0.031461" mass="0.0694" fullinertia="3.881635e-05 3.515624e-05 1.384805e-05 -4.036985e-09 -8.683362e-07 -8.444422e-08"/>
<joint name="rleg_joint2" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-1.06499 2.80504" damping="0.2"/>
<geom name="rleg_link2_mesh" pos="0 0 0" type="mesh" mesh="KHR_RLEG_LINK2_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="RLEG_LINK3" pos="0.0 -0.003 -0.065">
<inertial pos="-0.000386 -0.016666 -0.024369" mass="0.0691" fullinertia="2.079107e-05 1.818282e-05 1.182965e-05 -1.954314e-07 9.835033e-08 8.030392e-08"/>
<joint name="rleg_joint3" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-1.6941 2.45985" damping="0.2"/>
<geom name="rleg_link3_mesh" pos="0 0 0" type="mesh" mesh="KHR_RLEG_LINK3_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<!-- <body name="RLEG_LINK4" pos="0.019683 -0.00825 -0.0385"> -->
<body name="RLEG_LINK4" pos="0.019683 -0.00525 -0.0385">
<inertial pos="-0.020862 -0.020902 -0.013459" mass="0.0419" fullinertia="1.244167e-05 3.000214e-05 3.927426e-05 -6.004987e-07 1.042822e-07 -5.792671e-07"/>
<joint name="rleg_joint4" pos="0 0 0" axis="1.0 0.0 0.0" limited="true" range="-0.38347 2.07109" damping="0.2"/>
<geom name="rleg_link4_mesh" pos="0 0 0" type="mesh" mesh="KHR_RLEG_LINK4_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
</body>
</body>
</body>
</body>
</body>
<body name="LLEG_LINK0" pos="0.018517 0.017 -0.06265">
<inertial pos="-0.021734 0.011506 -0.014091" mass="0.0699" fullinertia="1.691904e-05 1.589483e-05 9.628598e-06 -8.674622e-08 -1.217244e-08 -5.717395e-07"/>
<joint name="lleg_joint0" pos="0 0 0" axis="1.0 0.0 0.0" limited="true" range="-0.679172 0.499513" damping="0.2"/>
<geom name="lleg_link0_mesh" pos="0 0 0" type="mesh" mesh="KHR_LLEG_LINK0_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="LLEG_LINK1" pos="-0.0192 -0.00825 -0.0385">
<inertial pos="0.002871 0.018978 -0.033258" mass="0.1031" fullinertia="5.516745e-05 5.510010e-05 1.421070e-05 -4.331385e-07 1.607866e-07 2.792756e-08"/>
<joint name="lleg_joint1" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-2.07933 2.08228" damping="0.2"/>
<geom name="lleg_link1_mesh" pos="0 0 0" type="mesh" mesh="KHR_LLEG_LINK1_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="LLEG_LINK2" pos="4.440892e-19 0.0 -0.065">
<inertial pos="0.003613 0.016674 -0.031461" mass="0.0694" fullinertia="3.675002e-05 3.375774e-05 1.292444e-05 -1.698369e-07 -8.700617e-07 -1.300457e-07"/>
<joint name="lleg_joint2" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-1.06499 2.80504" damping="0.2"/>
<geom name="lleg_link2_mesh" pos="0 0 0" type="mesh" mesh="KHR_LLEG_LINK2_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="LLEG_LINK3" pos="0.0 0.0 -0.065">
<inertial pos="-0.000386 0.016666 -0.024369" mass="0.0691" fullinertia="1.897253e-05 1.736952e-05 1.229215e-05 -5.304641e-08 -3.889940e-07 -1.934696e-08"/>
<joint name="lleg_joint3" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-1.6941 2.45985" damping="0.2"/>
<geom name="lleg_link3_mesh" pos="0 0 0" type="mesh" mesh="KHR_LLEG_LINK3_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="LLEG_LINK4" pos="0.019683 0.00825 -0.0385">
<inertial pos="-0.020862 0.020902 -0.013459" mass="0.0419" fullinertia="1.314386e-05 2.756289e-05 3.784923e-05 -3.433047e-09 -2.132639e-07 3.998076e-07"/>
<joint name="lleg_joint4" pos="0 0 0" axis="1.0 0.0 0.0" limited="true" range="-2.07109 0.38347" damping="0.2"/>
<geom name="lleg_link4_mesh" pos="0 0 0" type="mesh" mesh="KHR_LLEG_LINK4_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
</body>
</body>
</body>
</body>
</body>
<body name="RARM_LINK0" pos="0.0115 -0.049 0.0474">
<inertial pos="0.0 -0.014576 0.0" mass="0.0153" fullinertia="1.676300e-06 2.263070e-06 2.745542e-06 -1.676607e-08 -9.953316e-09 1.992639e-09"/>
<joint name="rarm_joint0" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-3.14159 3.14159" damping="0.2"/>
<geom name="rarm_link0_mesh" pos="0 0 0" type="mesh" mesh="KHR_RARM_LINK0_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="RARM_LINK1" pos="0.01975 -0.0255 0.0">
<inertial pos="-0.02697 0.000148 -0.050609" mass="0.1091" fullinertia="8.202454e-05 9.300714e-05 2.322636e-05 1.686368e-07 -2.811838e-06 1.004118e-06"/>
<joint name="rarm_joint1" pos="0 0 0" axis="1.0 0.0 0.0" limited="true" range="-3.14159 3.14159" damping="0.2"/>
<geom name="rarm_link1_mesh" pos="0 0 0" type="mesh" mesh="KHR_RARM_LINK1_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="RARM_LINK2" pos="-0.0153 0.0197 -0.0875">
<inertial pos="0.000525 -0.019115 -0.039067" mass="0.0315" fullinertia="2.015857e-05 1.836502e-05 4.027569e-06 -1.189855e-07 7.558438e-08 5.071892e-07"/>
<joint name="rarm_joint2" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-3.14159 3.14159" damping="0.2"/>
<geom name="rarm_link2_mesh" pos="0 0 0" type="mesh" mesh="KHR_RARM_LINK2_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
</body>
</body>
</body>
<body name="LARM_LINK0" pos="0.0115 0.049 0.0474">
<inertial pos="0.0 0.014576 0.0" mass="0.0153" fullinertia="1.642384e-06 2.269218e-06 2.753356e-06 -4.398995e-09 2.131338e-08 -3.478219e-09"/>
<joint name="larm_joint0" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-3.14159 3.14159" damping="0.2"/>
<geom name="larm_link0_mesh" pos="0 0 0" type="mesh" mesh="KHR_LARM_LINK0_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="LARM_LINK1" pos="0.01975 0.0255 0.0">
<inertial pos="-0.02697 -0.000148 -0.050609" mass="0.1091" fullinertia="8.956372e-05 0.000102 2.505552e-05 1.200601e-08 -3.451890e-06 -4.050433e-07"/>
<joint name="larm_joint1" pos="0 0 0" axis="1.0 0.0 0.0" limited="true" range="-3.14159 3.14159" damping="0.2"/>
<geom name="larm_link1_mesh" pos="0 0 0" type="mesh" mesh="KHR_LARM_LINK1_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
<body name="LARM_LINK2" pos="-0.0153 -0.0197 -0.0875">
<inertial pos="0.000525 0.019115 -0.039067" mass="0.0315" fullinertia="2.063503e-05 1.949743e-05 3.506149e-06 6.635338e-08 1.858002e-07 -1.804730e-07"/>
<joint name="larm_joint2" pos="0 0 0" axis="0.0 1.0 0.0" limited="true" range="-3.14159 3.14159" damping="0.2"/>
<geom name="larm_link2_mesh" pos="0 0 0" type="mesh" mesh="KHR_LARM_LINK2_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
</body>
</body>
</body>
<body name="HEAD_LINK0" pos="0.0 0.0 0.0644">
<inertial pos="0.002048 0.0 0.020747" mass="0.0149" fullinertia="1.894980e-06 3.270175e-06 2.440342e-06 1.757507e-08 -5.796941e-08 1.693787e-08"/>
<joint name="head_joint0" pos="0 0 0" axis="0.0 0.0 1.0" limited="true" range="-3.14159 3.14159" damping="0.2"/>
<geom name="head_link0_mesh" pos="0 0 0" type="mesh" mesh="KHR_HEAD_LINK0_0_mesh" rgba="0.5 0.5 0.5 1.0"/>
</body>
</body>
</worldbody>
<actuator>
<!-- motor control -->
<motor name="rleg_joint0" joint="rleg_joint0"/>
<motor name="rleg_joint1" joint="rleg_joint1"/>
<motor name="rleg_joint2" joint="rleg_joint2"/>
<motor name="rleg_joint3" joint="rleg_joint3"/>
<motor name="rleg_joint4" joint="rleg_joint4"/>
<motor name="lleg_joint0" joint="lleg_joint0"/>
<motor name="lleg_joint1" joint="lleg_joint1"/>
<motor name="lleg_joint2" joint="lleg_joint2"/>
<motor name="lleg_joint3" joint="lleg_joint3"/>
<motor name="lleg_joint4" joint="lleg_joint4"/>
<motor name="rarm_joint0" joint="rarm_joint0"/>
<motor name="rarm_joint1" joint="rarm_joint1"/>
<motor name="rarm_joint2" joint="rarm_joint2"/>
<motor name="larm_joint0" joint="larm_joint0"/>
<motor name="larm_joint1" joint="larm_joint1"/>
<motor name="larm_joint2" joint="larm_joint2"/>
<!-- <motor name="head_joint0" joint="head_joint0"/> -->

<!-- position control -->
<!-- <position name="head_joint0" kp="10" joint="head_joint0" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="larm_joint0" kp="10" joint="larm_joint0" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="larm_joint1" kp="10" joint="larm_joint1" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="larm_joint2" kp="10" joint="larm_joint2" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rarm_joint0" kp="10" joint="rarm_joint0" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rarm_joint1" kp="10" joint="rarm_joint1" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rarm_joint2" kp="10" joint="rarm_joint2" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="lleg_joint0" kp="10" joint="lleg_joint0" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="lleg_joint1" kp="10" joint="lleg_joint1" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="lleg_joint2" kp="10" joint="lleg_joint2" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="lleg_joint3" kp="10" joint="lleg_joint3" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="lleg_joint4" kp="10" joint="lleg_joint4" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rleg_joint0" kp="10" joint="rleg_joint0" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rleg_joint1" kp="10" joint="rleg_joint1" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rleg_joint2" kp="10" joint="rleg_joint2" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rleg_joint3" kp="10" joint="rleg_joint3" ctrlrange="-3.14159 3.14159"/> -->
<!-- <position name="rleg_joint4" kp="10" joint="rleg_joint4" ctrlrange="-3.14159 3.14159"/> -->
</actuator>


<sensor>
<!-- <touch name="contact_sensor" site="contact_sensor"/> -->
<accelerometer name="accelerometer" site="imu"/>
<gyro name="gyro" site="imu"/>
<!-- simulate IMU sensor fusion value with frame orientation sensor -->
<framequat name="framequat" objtype="site" objname="imu"/>
<!-- the velocity data should actually be acqured from joint movement, but use this for now -->
<velocimeter name="velocimeter" site="imu"/>
<framepos name="framepos" objtype="site" objname="imu"/>
</sensor>

</mujocoinclude>
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