diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..941528e --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 Al-Hafez + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index a30c50d..3047458 100644 --- a/README.md +++ b/README.md @@ -37,7 +37,11 @@ To replay a dataset run: ```bash python examples/replay_datasets/replay_Unitree.py ``` +--- +## Environments & Tasks +You want a quick overview of all **environments**, **tasks** and **datasets** available? [Here](/loco_mujoco/environments) you can find it. +And stay tuned! There are many more to come ... --- ## Example diff --git a/loco_mujoco/environments/README.md b/loco_mujoco/environments/README.md new file mode 100644 index 0000000..14aba81 --- /dev/null +++ b/loco_mujoco/environments/README.md @@ -0,0 +1,25 @@ +# Overview of Available Tasks +Here you can find an overviw of all tasks. Each Task is represented by its own ID. For each task, you can choose between different datasets. The real dataset contains real (noisy) motion capture datasets without actions. The perfect dataset contains ground truth states and actions form an expert policy (only available on an few tasks). The preference dataset contains preferences of an ground truth expert with states and action (only available on an few tasks). +The status of a dataset can be seen down below. ✅ means it is already available, and 🔶 means pending. + + | Image | Task-IDs | Status of Datasets | Description| + |---|---|---|---| + | ![out5](https://github.com/robfiras/loco-mujoco/assets/69359729/cdcd4617-c18a-448d-b42a-ea01384016b0) | HumanoidMuscle.walk
HumanoidMuscle.run
HumanoidMuscle4Ages.walk.4
HumanoidMuscle.run
HumanoidMuscle4Ages.run.4 | real: ✅
perfect: 🔶
preference: 🔶| Task of an adult **Muscle** Humanoid Walking or Running Straight. | + | ![out4](https://github.com/robfiras/loco-mujoco/assets/69359729/1bdebeb1-401c-439e-8f2e-7197fd34c5e5) | HumanoidMuscle4Ages.walk.3
HumanoidMuscle4Ages.run.3 | real: ✅
perfect: 🔶
preference: 🔶| Task of a (~12 year old) **Muscle** Humanoid Walking or Running Straight. | + | ![out9](https://github.com/robfiras/loco-mujoco/assets/69359729/2c7aeb58-65a6-427c-8b12-197c96410cd8) | HumanoidMuscle4Ages.walk.2
HumanoidMuscle4Ages.run.2 | real: ✅
perfect: 🔶
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
HumanoidMuscle4Ages.run.1 | real: ✅
perfect: 🔶
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
HumanoidTorque.run
HumanoidTorque4Ages.walk.4
HumanoidTorque.run
HumanoidTorque4Ages.run.4 | real: ✅
perfect: 🔶
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
HumanoidTorque4Ages.run.3 | real: ✅
perfect: 🔶
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
HumanoidTorque4Ages.run.2 | real: ✅
perfect: 🔶
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
HumanoidTorque4Ages.run.1 | real: ✅
perfect: 🔶
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: ✅
perfect: 🔶
preference: 🔶| UnitreeH1 Straight Walking Task. | + | ![out9](https://github.com/robfiras/loco-mujoco/assets/69359729/ab0dec59-fc24-4763-8ff6-38d58ac3b3de) | UnitreeH1.run | real: ✅
perfect: 🔶
preference: 🔶| UnitreeH1 Straight Running Task. | + | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/851ff3c0-d05f-4de1-a00b-7b3204056e2f) | UnitreeH1.carry | real: ✅
perfect: 🔶
preference: 🔶| UnitreeH1 Carry Task. | + | ![out7](https://github.com/robfiras/loco-mujoco/assets/69359729/22c7bb0c-ff92-4e99-a964-7654df6d22c4) | Talos.walk | real: ✅
perfect: 🔶
preference: 🔶| Talos Straight Walking Task. | + | ![out3](https://github.com/robfiras/loco-mujoco/assets/69359729/0ba1f0e7-1f3d-4088-a44f-0a53bec1cf3a) | Talos.run | real: ✅
perfect: 🔶
preference: 🔶| Talos Carry Task. | + | ![out13](https://github.com/robfiras/loco-mujoco/assets/69359729/1ff09d98-e46b-429c-ac07-87de58853d28) | Atlas.walk | real: ✅
perfect: 🔶
preference: 🔶| Atlas Straight Walking Task. | + | ![out10](https://github.com/robfiras/loco-mujoco/assets/69359729/3c433333-3466-445b-b39f-2f990553d5ff) | Atlas.run | real: ✅
perfect: 🔶
preference: 🔶| Atlas Carry Task. | + | ![out4](https://github.com/robfiras/loco-mujoco/assets/69359729/b722bb42-a26c-4692-b1a8-c6f71a78e37b) | UnitreeA1.simple | real: ✅
perfect: 🔶
preference: 🔶| UnitreeA1 Straight Walking Task. | + | ![out47](https://github.com/robfiras/loco-mujoco/assets/69359729/5a1f783e-8b52-4680-a22b-d96f89faf9b3) | UnitreeA1.hard | real: ✅
perfect: 🔶
preference: 🔶| UnitreeA1 Walking in 8 Different Direction Task. | + +