Quadruped ASE

[dtch1997]

No description provided.

[dtch1997]

I'm not sure how to test the Quadruped task, since the analogous Humanoid task is not trainable from the current config.

The easiest way may be to implement QuadrupedAmp directly.

[dtch1997]

Actually, the first step should be to check what are the similarities / differences between MotionData class and MotionLib and how easy / difficult it is to import the quadruped motion data to this codebase.

[dtch1997]

From reading the code and exploring it through debugging:

• MotionLib's implementation is based on SkeletonTree and SkeletonState/Motion.
• SkeletonTree can be initialized directly from MJCF.
• A simple example usage is provided in ase/poselib/generate_amp_human_tpose.py.

Next milestone: Import quadruped mo-cap data into MotionLib.

1. Implement a script to import one quadruped mo-cap text file into a SkeletonMotion instance
2. Serialize as a .npy file
3. Visualize the full motion with plot_skeleton_state
4. Test that it works with MotionLib.

[dtch1997]

At the moment, this is the plot of the 'zero' pose.

I should try to figure out how to plot the actual rest pose.

[dtch1997]

After thinking about it some more it may not make sense to re-use the same MotionLib, because it has a lot of general functionality which is not necessary for quadrupeds which only have revolute joints.

The revised plan is to:

1. Port over a basic A1 environment to this repo, named Quadruped and train a baseline
2. Implement a version of the AMP code starting from that baseline
3. Implement a version of ASE from that baseline

[dtch1997]

Bugbears:

• Hardcoding of dataset path
• We must install motion_imitation repo before being able to run training script
  • also pybullet

Edit:

• Hardcoding can be addressed by overriding motion path, e.g. python train.py task=QuadrupedAMP task.env.motionFile=data/motions/quadruped/dataset_quadruped.yaml

[dtch1997]

This PR will be discontinued in favour of dtch1997/IsaacGymEnvs#5