Updated domain randomization to work in parallel mode now.

- now a separate domain randomization handler is used.

examples/domain_randomization/atlas.yaml

@@ -1,327 +1,34 @@
-Joints:
-  # set either a sigma for sampling from a normal distirbution or set a delta-range for uniform sampling.
-  back_bkz:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  back_bkx:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  back_bky:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  l_arm_shz:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  l_arm_shx:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  l_arm_ely:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  l_arm_elx:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  l_arm_wry:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  l_arm_wrx:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  r_arm_shz:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  r_arm_shx:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  r_arm_ely:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  r_arm_elx:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  r_arm_wry:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  r_arm_wrx:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  hip_flexion_r:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  hip_adduction_r:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  hip_rotation_r:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  knee_angle_r:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  ankle_angle_r:
+# here a default randomizaiton can be set for all joints.
+Default:
+  # these joints will not be included during domain randomization.
+  exclude: ["pelvis_tx", "pelvis_ty", "pelvis_tz", "pelvis_tilt", "pelvis_list", "pelvis_rotation"]
+  Joints:
     damping:
       sigma: 0.0
-      uniform_range: null
     stiffness:
       sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
     frictionloss:
       sigma: 0.0
-      uniform_range: null
-  hip_flexion_l:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  hip_adduction_l:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  hip_rotation_l:
-    damping:
-      sigma: 0.0
-      uniform_range: null
-    stiffness:
-      sigma: 0.0
-      uniform_range: null
-    armature:
-      sigma: 0.0
-      uniform_range: null
-    frictionloss:
-      sigma: 0.0
-      uniform_range: null
-  knee_angle_l:
+
+# here joint specific configurations can be made 
+Joints:
+  # set either a sigma for sampling from a normal distirbution or set a delta-range for uniform sampling.
+  back_bkz:
     damping:
-      sigma: 0.0
-      uniform_range: null
+      uniform_range: [4.0, 6.0]
     stiffness:
       sigma: 0.0
-      uniform_range: null
     armature:
       sigma: 0.0
-      uniform_range: null
     frictionloss:
       sigma: 0.0
-      uniform_range: null
-  ankle_angle_l:
+  back_bkx:
     damping:
-      sigma: 0.0
-      uniform_range: null
+      uniform_range: [4.0, 6.0]
     stiffness:
       sigma: 0.0
-      uniform_range: null
     armature:
       sigma: 0.0
-      uniform_range: null
     frictionloss:
       sigma: 0.0
-      uniform_range: null
+

examples/domain_randomization/example_humanoid_muscle.py

@@ -0,0 +1,22 @@
+import numpy as np
+from loco_mujoco import LocoEnv
+
+
+env = LocoEnv.make("HumanoidMuscle", disable_arms=False, use_box_feet=False, domain_randomization_config="./humanoid.yaml")
+
+action_dim = env.info.action_space.shape[0]
+
+env.reset()
+env.render()
+absorbing = False
+i = 0
+
+while True:
+    if i == 1000 or absorbing:
+        env.reset()
+        i = 0
+    action = np.random.randn(action_dim)
+    nstate, _, absorbing, _ = env.step(action)
+
+    env.render()
+    i += 1

examples/domain_randomization/example_humanoid_torque.py

@@ -1,22 +1,26 @@
 import numpy as np
 from loco_mujoco import LocoEnv
-
+import time
 
 env = LocoEnv.make("HumanoidTorque", domain_randomization_config="./humanoid.yaml")
 
 action_dim = env.info.action_space.shape[0]
 
+np.random.seed(0)
 env.reset()
 env.render()
 absorbing = False
 i = 0
 
-while True:
+start_time = time.time()
+for j in range(100):
     if i == 1000 or absorbing:
         env.reset()
         i = 0
+        print(j)
     action = np.random.randn(action_dim)
     nstate, _, absorbing, _ = env.step(action)
 
     env.render()
     i += 1
+print("Time needed: ", time.time() - start_time)