add h1

legged_gym/envs/__init__.py

@@ -2,8 +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 .base.legged_robot import LeggedRobot
 
 from legged_gym.utils.task_registry import task_registry
-task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO() )
+task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
+task_registry.register( "h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
+
 

legged_gym/envs/go2/go2_config.py

@@ -1,33 +1,3 @@
-# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: BSD-3-Clause
-# 
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice, this
-# list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its
-# contributors may be used to endorse or promote products derived from
-# this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-# Copyright (c) 2021 ETH Zurich, Nikita Rudin
-
 from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
 
 class GO2RoughCfg( LeggedRobotCfg ):
@@ -49,6 +19,9 @@ class init_state( LeggedRobotCfg.init_state ):
             'FR_calf_joint': -1.5,  # [rad]
             'RR_calf_joint': -1.5,    # [rad]
         }
+    class env(LeggedRobotCfg.env):
+        num_observations = 105
+        num_actions = 10
 
     class control( LeggedRobotCfg.control ):
         # PD Drive parameters:

legged_gym/envs/h1/h1_config.py

@@ -0,0 +1,60 @@
+from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
+
+class H1RoughCfg( 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' : -0.4,         
+           'left_knee_joint' : 0.8,       
+           'left_ankle_joint' : -0.4,     
+           'right_hip_yaw_joint' : 0., 
+           'right_hip_roll_joint' : 0, 
+           'right_hip_pitch_joint' : -0.4,                                       
+           'right_knee_joint' : 0.8,                                             
+           'right_ankle_joint' : -0.4,                                     
+           'torso_joint' : 0., 
+           'left_shoulder_pitch_joint' : 0., 
+           'left_shoulder_roll_joint' : 0, 
+           'left_shoulder_yaw_joint' : 0.,
+           'left_elbow_joint'  : 0.,
+           'right_shoulder_pitch_joint' : 0.,
+           'right_shoulder_roll_joint' : 0.0,
+           'right_shoulder_yaw_joint' : 0.,
+           'right_elbow_joint' : 0.,
+        }
+
+    class control( LeggedRobotCfg.control ):
+        # PD Drive parameters:
+        control_type = 'P'
+        stiffness = {'joint': 20.}  # [N*m/rad]
+        damping = {'joint': 0.5}     # [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 = 4
+
+    class asset( LeggedRobotCfg.asset ):
+        file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1/urdf/h1.urdf'
+        name = "h1"
+        foot_name = "ankle"
+        penalize_contacts_on = ["thigh", "calf"]
+        terminate_after_contacts_on = ["base"]
+        self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
+
+    class rewards( LeggedRobotCfg.rewards ):
+        soft_dof_pos_limit = 0.9
+        base_height_target = 0.98
+        class scales( LeggedRobotCfg.rewards.scales ):
+            torques = -0.0002
+            dof_pos_limits = -10.0
+
+class H1RoughCfgPPO( LeggedRobotCfgPPO ):
+    class algorithm( LeggedRobotCfgPPO.algorithm ):
+        entropy_coef = 0.01
+    class runner( LeggedRobotCfgPPO.runner ):
+        run_name = ''
+        experiment_name = 'rough_go2'
+
+