Finalized Unitree G1, prepared release v0.3.0 and fixed some bugs dur…

…ing testing.

README.md

@@ -42,6 +42,11 @@ cd loco-mujoco
 pip install -e . 
 ```
 
+> [!NOTE]
+> We fixed the version of MuJoCo to 2.3.7 during installation since we found that there are slight 
+> differences in the simulation, which made testing very difficult. However, in practice, you can 
+> use any newer version of MuJoCo! Just install it after installing LocoMuJoCo.
+
 ### Download the Datasets
 After installing LocoMuJoCo, new commands for downloading the datasets will be setup for you.
 You have the choice of downloading all datasets available or only the ones you need.

docs/conf.py

@@ -8,25 +8,26 @@
 
 import os
 import sys
+from loco_mujoco import __version__
 sys.path.insert(0, os.path.abspath(".."))
 
 
 project = 'LocoMuJoCo'
 copyright = '2024, Firas Al-Hafez'
 author = 'Firas Al-Hafez'
-release = 'v0.2.2'
+release = 'v' + __version__
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
 
-extensions = ['sphinx.ext.todo', 'sphinx.ext.viewcode', 'sphinx.ext.autodoc', "m2r2"]
+extensions = ['sphinx.ext.todo', 'sphinx.ext.viewcode', 'sphinx.ext.autodoc', "m2r2", 'sphinx.ext.napoleon']
 
 templates_path = ['_templates']
 exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
 add_module_names = False
 autodoc_member_order = 'groupwise'
 source_suffix = [".rst", ".md"]
-
+napoleon_google_docstring = True
 
 # -- Options for HTML output -------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output

docs/source/humanoids/unitreeg1.rst

@@ -0,0 +1,13 @@
+Unitree G1
+=======================================================
+
+.. image:: https://github.com/robfiras/loco-mujoco/assets/69359729/be7c3b29-03db-49c2-8e27-527562218f74
+    :width: 49%
+.. image:: https://github.com/robfiras/loco-mujoco/assets/69359729/23cf5988-7326-453e-af24-0f0adc255c9c
+    :width: 49%
+
+.. automodule:: loco_mujoco.environments.humanoids.unitreeG1
+    :members:
+    :undoc-members:
+    :private-members:
+    :show-inheritance:

docs/source/loco_mujoco.environments.humanoids.rst

@@ -8,6 +8,7 @@ Here you find an overview of the API of all Humanoid environments.
     ./humanoids/talos.rst
     ./humanoids/atlas.rst
     ./humanoids/unitreeh1.rst
+    ./humanoids/unitreeg1.rst
     ./humanoids/torque_humanoid.rst
     ./humanoids/muscle_humanoid.rst
     ./humanoids/base_humanoids.rst

docs/source/loco_mujoco.installation.rst

@@ -17,6 +17,10 @@ or you do an editable installation by cloning this repository and then running:
     cd loco-mujoco
     pip install -e .
 
+.. note::
+        We fixed the version of MuJoCo to 2.3.7 during installation since we found that there are slight
+        differences in the simulation, which made testing very difficult. However, in practice, you can
+        use any newer version of MuJoCo! Just install it after installing LocoMuJoCo.
 
 Download the Datasets
 ---------------------

docs/utils.py

@@ -1,6 +1,6 @@
 import inspect
 import loco_mujoco
-from loco_mujoco.environments import HumanoidTorque, HumanoidMuscle, UnitreeA1
+from loco_mujoco.environments import HumanoidTorque, HumanoidMuscle, UnitreeA1, UnitreeG1
 from mushroom_rl.utils.mujoco import *
 
 
@@ -136,7 +136,10 @@ def get_action_space_table_docs(env, use_muscles=False):
         else:
             motors_to_remove = []
     except :
-        action_spec = env._get_action_specification(use_muscles)
+        if type(env) == UnitreeG1:
+            action_spec = env._get_action_specification()
+        else:
+            action_spec = env._get_action_specification(use_muscles)
         _, motors_to_remove, _, _ = env._get_xml_modifications()
 
     header = ["Index", "Name in XML", "Control Min", "Control Max", "Disabled"]
@@ -160,14 +163,14 @@ def get_action_space_table_docs(env, use_muscles=False):
 if __name__ == "__main__":
 
     # # Talos
-    env = loco_mujoco.LocoEnv.make("Talos", disable_arms=False, disable_back=False)
-    additional_info = [["Mass of the Weight", "0.0", "inf", "Only Enabled for Carry Task", "1", "Mass [kg]"],
-                       ["3D linear Forces between Right Foot and Floor", "0.0", "inf", "True", "3", "Force [N]"],
-                       ["3D linear Forces between Left Foot and Floor", "0.0", "inf", "True", "3", "Force [N]"]]
-    print(get_obs_space_table_docs(env, additional_info)[0],
-          "\nNumber of obs that are on by default: ", get_obs_space_table_docs(env, additional_info)[1], "\n")
-    print(get_action_space_table_docs(env)[0],
-          "\nNumber of actions that are on by default: ", get_action_space_table_docs(env)[1])
+    # env = loco_mujoco.LocoEnv.make("Talos", disable_arms=False, disable_back=False)
+    # additional_info = [["Mass of the Weight", "0.0", "inf", "Only Enabled for Carry Task", "1", "Mass [kg]"],
+    #                    ["3D linear Forces between Right Foot and Floor", "0.0", "inf", "True", "3", "Force [N]"],
+    #                    ["3D linear Forces between Left Foot and Floor", "0.0", "inf", "True", "3", "Force [N]"]]
+    # print(get_obs_space_table_docs(env, additional_info)[0],
+    #       "\nNumber of obs that are on by default: ", get_obs_space_table_docs(env, additional_info)[1], "\n")
+    # print(get_action_space_table_docs(env)[0],
+    #       "\nNumber of actions that are on by default: ", get_action_space_table_docs(env)[1])
 
     # # Atlas
     # env = loco_mujoco.LocoEnv.make("Atlas", disable_arms=False, disable_back=False)
@@ -191,6 +194,15 @@ def get_action_space_table_docs(env, use_muscles=False):
     # print(get_action_space_table_docs(env)[0],
     #       "\nNumber of actions that are on by default: ", get_action_space_table_docs(env)[1])
 
+    # UnitreeG1
+    env = loco_mujoco.LocoEnv.make("UnitreeG1", disable_arms=False, disable_back=False)
+    additional_info = [["3D linear Forces between Right Foot and Floor", "0.0", "inf", "True", "3", "Force [N]"],
+                       ["3D linear Forces between Left Foot and Floor", "0.0", "inf", "True", "3", "Force [N]"]]
+    print(get_obs_space_table_docs(env, additional_info)[0],
+          "\nNumber of obs that are on by default: ", get_obs_space_table_docs(env, additional_info)[1], "\n")
+    print(get_action_space_table_docs(env)[0],
+          "\nNumber of actions that are on by default: ", get_action_space_table_docs(env)[1])
+
     # Torque Humanoid
     # env = loco_mujoco.LocoEnv.make("HumanoidTorque", disable_back=False, disable_arms=False)
     # additional_info = [["3D linear Forces between Back Right Foot and Floor", "0.0", "inf", "True", "3", "Force [N]"],

examples/imitation_learning/confs.yaml

@@ -129,6 +129,25 @@ UnitreeH1:
     use_noisy_targets: False
     last_policy_activation: "identity"
 
+UnitreeG1:
+  algorithm: "VAIL"
+  algorithm_config:
+    std_0: 0.5
+    info_constraint: 0.1
+    lr_beta: 0.00001
+    z_dim: 128
+    disc_only_states: True
+    disc_use_next_states: False
+    train_disc_n_th_epoch: 3
+    disc_batch_size: 2048
+    learning_rate_critic: 1.0e-4
+    learning_rate_disc: 5.0e-5
+    policy_entr_coef: 1.0e-3
+    max_kl: 5.0e-3
+    n_epochs_cg: 25
+    use_noisy_targets: False
+    last_policy_activation: "identity"
+
 UnitreeA1.simple:
   algorithm: "VAIL"
   algorithm_config:

examples/imitation_learning/launcher.py

@@ -31,6 +31,7 @@
     env_ids = ["Atlas.walk", "Atlas.carry",
                "Talos.walk", "Talos.carry",
                "UnitreeH1.walk", "UnitreeH1.run", "UnitreeH1.carry",
+               "UnitreeG1.walk", "UnitreeG1.run",
                "HumanoidTorque.walk", "HumanoidTorque.run",
                "HumanoidMuscle.walk", "HumanoidMuscle.run",
                "UnitreeA1.simple", "UnitreeA1.hard"]

examples/replay_datasets/record_all.py

@@ -11,12 +11,13 @@ def experiment(seed=0):
     envs = LocoEnv.get_all_task_names()
 
     for env in envs:
+
         if "real" in env:
             replay_params = dict(n_episodes=15, n_steps_per_episode=250, record=True) if "Unitree.hard" in env or \
                                                                                          ".all" in env or ".carry" in env \
                 else dict(n_episodes=3, n_steps_per_episode=500, record=True)
 
-            if ("Humanoid" in env or "Atlas.walk" in env) and not "carry" in env:
+            if ("Humanoid" in env or "Atlas.walk" in env or "UnitreeG1" in env) and not "carry" in env:
                 env_params = dict(disable_arms=False)
             else:
                 env_params = dict()

loco_mujoco/environments/README.md

@@ -9,12 +9,14 @@ The status of a dataset can be seen down below. ✅ means it is already availabl
  | ![out9](https://github.com/robfiras/loco-mujoco/assets/69359729/2c7aeb58-65a6-427c-8b12-197c96410cd8) | HumanoidMuscle4Ages.walk.2 </br> HumanoidMuscle4Ages.run.2 | real: ✅  <br /> perfect: 🔶  <br /> preference: 🔶 | Task of a (~5-6 year old) **Muscle** Humanoid Walking or Running Straight. |
  | ![out9](https://github.com/robfiras/loco-mujoco/assets/69359729/600a917f-c784-4b5e-ac99-9472711de843) | HumanoidMuscle4Ages.walk.1 </br> HumanoidMuscle4Ages.run.1 | real: ✅  <br /> perfect: 🔶  <br /> preference: 🔶 | Task of a (~2 year old) **Muscle** Humanoid Walking or Running Straight. |
  | ![out39](https://github.com/robfiras/loco-mujoco/assets/69359729/cf32520f-5a2e-401a-9f2e-b8033ef7109c) | HumanoidTorque.walk </br> HumanoidTorque.run </br> HumanoidTorque4Ages.walk.4 </br> HumanoidTorque.run </br> HumanoidTorque4Ages.run.4 | real: ✅  <br /> perfect: ✅   <br /> preference: 🔶| Task of an adult **Torque** Humanoid Walking or Running Straight. |
- | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/352f3594-8903-4eaf-a223-f751b590f4ec) | HumanoidTorque4Ages.walk.3 </br> HumanoidTorque4Ages.run.3  | real: ✅  <br /> perfect: 🔶  <br /> preference: 🔶 | Task of a (~12 year old) **Torque** Humanoid Walking or Running Straight. |
- | ![out5](https://github.com/robfiras/loco-mujoco/assets/69359729/06c83af9-3c45-43a1-8173-aa1d8771fe4c) | HumanoidTorque4Ages.walk.2 </br> HumanoidTorque4Ages.run.2 | real: ✅  <br /> perfect: 🔶  <br /> preference: 🔶 | Task of a (~5-6 year old) **Torque** Humanoid Walking or Running Straight. |
- | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/5ec93baa-bed8-4d9f-b983-3bc12264b9b6) | HumanoidTorque4Ages.walk.1 </br> HumanoidTorque4Ages.run.1 | real: ✅  <br /> perfect: 🔶  <br /> preference: 🔶 | Task of a (~2 year old) **Torque** Humanoid Walking or Running Straight. |
+ | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/352f3594-8903-4eaf-a223-f751b590f4ec) | HumanoidTorque4Ages.walk.3 </br> HumanoidTorque4Ages.run.3  | real: ✅  <br /> perfect: ✅  <br /> preference: 🔶 | Task of a (~12 year old) **Torque** Humanoid Walking or Running Straight. |
+ | ![out5](https://github.com/robfiras/loco-mujoco/assets/69359729/06c83af9-3c45-43a1-8173-aa1d8771fe4c) | HumanoidTorque4Ages.walk.2 </br> HumanoidTorque4Ages.run.2 | real: ✅  <br /> perfect: ✅  <br /> preference: 🔶 | Task of a (~5-6 year old) **Torque** Humanoid Walking or Running Straight. |
+ | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/5ec93baa-bed8-4d9f-b983-3bc12264b9b6) | HumanoidTorque4Ages.walk.1 </br> HumanoidTorque4Ages.run.1 | real: ✅  <br /> perfect: ✅  <br /> preference: 🔶 | Task of a (~2 year old) **Torque** Humanoid Walking or Running Straight. |
  | ![out8](https://github.com/robfiras/loco-mujoco/assets/69359729/fed0315c-921e-4b2e-a9c2-54b85198ef65) | UnitreeH1.walk  | real: ✅  <br /> perfect: ✅   <br /> preference: 🔶| UnitreeH1 Straight Walking Task. |
  | ![out9](https://github.com/robfiras/loco-mujoco/assets/69359729/ab0dec59-fc24-4763-8ff6-38d58ac3b3de) | UnitreeH1.run  | real: ✅  <br /> perfect: ✅   <br /> preference: 🔶| UnitreeH1 Straight Running Task. |
  | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/851ff3c0-d05f-4de1-a00b-7b3204056e2f) | UnitreeH1.carry | real: ✅  <br /> perfect: 🔶   <br /> preference: 🔶| UnitreeH1 Carry Task. |
+ | ![out8](https://github.com/robfiras/loco-mujoco/assets/69359729/e9a33e94-65e4-48f5-8d7a-3d103c4ec7f5) | UnitreeG1.walk  | real: ✅  <br /> perfect: 🔶   <br /> preference: 🔶| UnitreeG1 Straight Walking Task. |
+ | ![out9](https://github.com/robfiras/loco-mujoco/assets/69359729/57292ef1-c152-4cd3-b7c1-d9a1e0633481) | UnitreeG1.run  | real: ✅  <br /> perfect: 🔶   <br /> preference: 🔶| UnitreeG1 Straight Running Task. |
  | ![out7](https://github.com/robfiras/loco-mujoco/assets/69359729/22c7bb0c-ff92-4e99-a964-7654df6d22c4) | Talos.walk  | real: ✅  <br /> perfect: ✅   <br /> preference: 🔶| Talos Straight Walking Task. |
  | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/0ba1f0e7-1f3d-4088-a44f-0a53bec1cf3a) | Talos.carry  | real: ✅  <br /> perfect: 🔶   <br /> preference: 🔶| Talos Carry Task. |
  | ![out13](https://github.com/robfiras/loco-mujoco/assets/69359729/1ff09d98-e46b-429c-ac07-87de58853d28) | Atlas.walk  | real: ✅  <br /> perfect: ✅   <br /> preference: 🔶| Atlas Straight Walking Task. |

loco_mujoco/environments/base.py

@@ -37,7 +37,7 @@ def __init__(self, xml_handles, action_spec, observation_spec, collision_groups=
         Constructor.
 
         Args:
-            xml_handle : MuJoCo xml handle.
+            xml_handles : MuJoCo xml handles.
             actuation_spec (list): A list specifying the names of the joints
                 which should be controllable by the agent. Can be left empty
                 when all actuators should be used;
@@ -86,6 +86,7 @@ def __init__(self, xml_handles, action_spec, observation_spec, collision_groups=
 
         if type(xml_handles) != list:
             xml_handles = [xml_handles]
+        self._xml_handles = xml_handles
 
         if collision_groups is None:
             collision_groups = list()
@@ -128,7 +129,7 @@ def __init__(self, xml_handles, action_spec, observation_spec, collision_groups=
         self.mean_grf = self._setup_ground_force_statistics()
 
         # dataset dummy
-        self._dataset= None
+        self._dataset = None
 
         if traj_params:
             self.trajectories = None
@@ -547,6 +548,22 @@ def load_dataset_and_get_traj_files(self, dataset_path, freq=None):
 
         return trajectories
 
+    @property
+    def xml_handle(self):
+        """ Returns the XML handle of the environment. This will raise an error if the environment contains more
+            than one xml_handle. """
+
+        if len(self._xml_handles) > 1:
+            raise ValueError("This environment contains multiple models and hence multiple xml_handles. Use the "
+                             "property \"xml_handles\" instead.")
+        return self._xml_handles[0]
+
+    @property
+    def xml_handles(self):
+        """ Returns all XML handles of the environment. """
+
+        return self._xml_handles
+
     def _get_observation_space(self):
         """
         Returns a tuple of the lows and highs (np.array) of the observation space.

loco_mujoco/environments/humanoids/atlas.py

@@ -16,7 +16,7 @@ class Atlas(BaseRobotHumanoid):
     Description
     ------------
 
-    Mujoco simulation of the Atlas robot. Optionally, Atlas can carry
+    Mujoco environment of the Atlas robot. Optionally, Atlas can carry
     a weight. This environment can be partially observable by hiding
     some of the state space entries from the policy using a state mask.
     Hidable entries are "positions", "velocities", "foot_forces",

loco_mujoco/environments/humanoids/base_humanoid.py

@@ -13,7 +13,7 @@
 
 class BaseHumanoid(LocoEnv):
     """
-    MuJoCo simulation of a base humanoid model.
+    Mujoco environment of a base humanoid model.
 
     """
 

loco_mujoco/environments/humanoids/base_humanoid_4_ages.py

@@ -16,7 +16,7 @@
 
 class BaseHumanoid4Ages(BaseHumanoid):
     """
-    MuJoCo simulation of 4 simplified humanoid models.
+    Mujoco environment of 4 simplified humanoid models.
     At the beginning of each episode, one of the four humanoid models are
     sampled and used to simulate a trajectory. The different humanoids should
     resemble an adult, a teenager (∼12 years), a child (∼5 years), and a

loco_mujoco/environments/humanoids/base_robot_humanoid.py

@@ -11,7 +11,7 @@
 
 class BaseRobotHumanoid(LocoEnv):
     """
-    Base Class for the Mujoco simulation of Atlas, UnitreeH1 and Talos.
+    Base Class for the Mujoco environment of Atlas, UnitreeH1/G1 and Talos.
 
     """
 

loco_mujoco/environments/humanoids/humanoids.py

@@ -10,7 +10,7 @@ class HumanoidTorque(BaseHumanoid):
     Description
     ------------
 
-    MuJoCo simulation of a humanoid model with one torque actuator per joint.
+    Mujoco environment of a humanoid model with one torque actuator per joint.
 
     Tasks
     -----------------
@@ -323,7 +323,7 @@ class HumanoidMuscle(BaseHumanoid):
     Description
     ------------
 
-    MuJoCo simulation of a humanoid model with muscle actuation.
+    Mujoco environment of a humanoid model with muscle actuation.
 
     .. note:: This Humanoid consists of 92 muscles on the lower limb. The upper body is torque actuated.
 
@@ -788,7 +788,7 @@ def generate(task="walk", dataset_type="real", **kwargs):
 
 class HumanoidTorque4Ages(BaseHumanoid4Ages):
     """
-    MuJoCo simulation of 4 simplified humanoid models with one torque actuator per joint.
+    Mujoco environment of 4 simplified humanoid models with one torque actuator per joint.
     At the beginning of each episode, one of the four humanoid models are randomly
     sampled and used to simulate a trajectory. The different humanoids should
     resemble an adult, a teenager (∼12 years), a child (∼5 years), and a
@@ -895,7 +895,7 @@ def generate(task="walk", mode="all", dataset_type="real", **kwargs):
 class HumanoidMuscle4Ages(BaseHumanoid4Ages):
 
     """
-    MuJoCo simulation of 4 simplified humanoid models with muscle actuation.
+    Mujoco environment of 4 simplified humanoid models with muscle actuation.
     At the beginning of each episode, one of the four humanoid models are
     sampled and used to simulate a trajectory. The different humanoids should
     resemble an adult, a teenager (∼12 years), a child (∼5 years), and a

loco_mujoco/environments/humanoids/talos.py

@@ -16,7 +16,7 @@ class Talos(BaseRobotHumanoid):
     Description
     ------------
 
-    Mujoco simulation of the Talos robot. Optionally, Talos can carry
+    Mujoco environment of the Talos robot. Optionally, Talos can carry
     a weight. This environment can be partially observable by hiding
     some of the state space entries from the policy using a state mask.
     Hidable entries are "positions", "velocities", "foot_forces",