├── .idea ├── .gitignore ├── Stoch2_gym_env.iml ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── vcs.xml ├── README.md ├── arbitary_slope_test.py ├── create_initial_policy.py ├── experiments ├── 19Oct1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 21Oct3 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_12.npy │ │ ├── policy_15.npy │ │ ├── policy_18.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ └── policy_72.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 21Oct4 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_12.npy │ │ ├── policy_15.npy │ │ ├── policy_18.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ └── policy_87.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 23July1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_108.npy │ │ ├── policy_111.npy │ │ ├── policy_114.npy │ │ ├── policy_117.npy │ │ ├── policy_120.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 23July2 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ └── policy_69.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 23July3 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ └── policy_90.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 25July1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_108.npy │ │ ├── policy_111.npy │ │ ├── policy_114.npy │ │ ├── policy_117.npy │ │ ├── policy_120.npy │ │ ├── policy_123.npy │ │ ├── policy_126.npy │ │ ├── policy_129.npy │ │ ├── policy_132.npy │ │ ├── policy_135.npy │ │ ├── policy_138.npy │ │ ├── policy_141.npy │ │ ├── policy_144.npy │ │ ├── policy_147.npy │ │ ├── policy_150.npy │ │ ├── policy_153.npy │ │ ├── policy_156.npy │ │ ├── policy_159.npy │ │ ├── policy_162.npy │ │ ├── policy_165.npy │ │ ├── policy_168.npy │ │ ├── policy_171.npy │ │ ├── policy_174.npy │ │ ├── policy_177.npy │ │ ├── policy_180.npy │ │ ├── policy_183.npy │ │ ├── policy_186.npy │ │ ├── policy_189.npy │ │ ├── policy_192.npy │ │ ├── policy_195.npy │ │ ├── policy_198.npy │ │ ├── policy_201.npy │ │ ├── policy_204.npy │ │ ├── policy_207.npy │ │ ├── policy_210.npy │ │ ├── policy_213.npy │ │ ├── policy_216.npy │ │ ├── policy_219.npy │ │ ├── policy_222.npy │ │ ├── policy_225.npy │ │ ├── policy_228.npy │ │ ├── policy_231.npy │ │ ├── policy_234.npy │ │ ├── policy_237.npy │ │ ├── policy_240.npy │ │ ├── policy_243.npy │ │ ├── policy_246.npy │ │ ├── policy_249.npy │ │ ├── policy_252.npy │ │ ├── policy_255.npy │ │ ├── policy_258.npy │ │ ├── policy_261.npy │ │ ├── policy_264.npy │ │ ├── policy_267.npy │ │ ├── policy_270.npy │ │ ├── policy_273.npy │ │ ├── policy_276.npy │ │ ├── policy_279.npy │ │ ├── policy_282.npy │ │ ├── policy_285.npy │ │ ├── policy_288.npy │ │ ├── policy_291.npy │ │ ├── policy_294.npy │ │ ├── policy_297.npy │ │ ├── policy_300.npy │ │ ├── policy_303.npy │ │ ├── policy_306.npy │ │ ├── policy_309.npy │ │ ├── policy_312.npy │ │ ├── policy_315.npy │ │ ├── policy_318.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 26July2 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ └── policy_81.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 27Aug1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ └── policy_72.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 27July1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_12.npy │ │ ├── policy_15.npy │ │ ├── policy_18.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_3.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_6.npy │ │ └── policy_9.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 3Aug1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_108.npy │ │ ├── policy_111.npy │ │ ├── policy_114.npy │ │ ├── policy_117.npy │ │ ├── policy_120.npy │ │ ├── policy_123.npy │ │ ├── policy_126.npy │ │ ├── policy_129.npy │ │ ├── policy_132.npy │ │ ├── policy_135.npy │ │ ├── policy_138.npy │ │ ├── policy_141.npy │ │ ├── policy_144.npy │ │ ├── policy_147.npy │ │ ├── policy_150.npy │ │ ├── policy_153.npy │ │ ├── policy_156.npy │ │ ├── policy_159.npy │ │ ├── policy_162.npy │ │ ├── policy_165.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png └── 3Aug2 │ ├── hyperparameters │ ├── iterations │ ├── best_policy.npy │ ├── policy_102.npy │ ├── policy_105.npy │ ├── policy_108.npy │ ├── policy_111.npy │ ├── policy_114.npy │ ├── policy_117.npy │ ├── policy_120.npy │ ├── policy_123.npy │ ├── policy_126.npy │ ├── policy_129.npy │ ├── policy_132.npy │ ├── policy_135.npy │ ├── policy_138.npy │ ├── policy_141.npy │ ├── policy_144.npy │ ├── policy_147.npy │ ├── policy_150.npy │ ├── policy_153.npy │ ├── policy_156.npy │ ├── policy_159.npy │ ├── policy_162.npy │ ├── policy_165.npy │ ├── policy_168.npy │ ├── policy_171.npy │ ├── policy_174.npy │ ├── policy_177.npy │ ├── policy_180.npy │ ├── policy_183.npy │ ├── policy_186.npy │ ├── policy_60.npy │ ├── policy_63.npy │ ├── policy_66.npy │ ├── policy_69.npy │ ├── policy_72.npy │ ├── policy_75.npy │ ├── policy_78.npy │ ├── policy_81.npy │ ├── policy_84.npy │ ├── policy_87.npy │ ├── policy_90.npy │ ├── policy_93.npy │ ├── policy_96.npy │ └── policy_99.npy │ └── logs │ ├── log.csv │ ├── log.pickle │ └── return.png ├── gym_sloped_terrain └── envs │ ├── HyQ_pybullet_env.py │ ├── Laikago_pybullet_env.py │ ├── Wedges │ ├── downhill │ │ ├── manifest.xml │ │ ├── meshes │ │ │ └── ramp_5.STL │ │ └── urdf │ │ │ ├── wedge_11.urdf │ │ │ ├── wedge_13.urdf │ │ │ ├── wedge_15.urdf │ │ │ ├── wedge_5.urdf │ │ │ ├── wedge_7.urdf │ │ │ └── wedge_9.urdf │ ├── ramp_5 │ │ ├── manifest.xml │ │ ├── meshes │ │ │ └── ramp_5.STL │ │ └── urdf │ │ │ ├── wedge_11.urdf │ │ │ ├── wedge_13.urdf │ │ │ ├── wedge_5.urdf │ │ │ ├── wedge_7.urdf │ │ │ └── wedge_9.urdf │ └── uphill │ │ ├── manifest.xml │ │ ├── meshes │ │ └── ramp_5.STL │ │ └── urdf │ │ ├── wedge_11.urdf │ │ ├── wedge_13.urdf │ │ ├── wedge_15.urdf │ │ ├── wedge_5.urdf │ │ ├── wedge_7.urdf │ │ └── wedge_9.urdf │ ├── __pycache__ │ ├── Laikago_pybullet_env.cpython-36.pyc │ ├── bullet_client.cpython-36.pyc │ └── walking_controller.cpython-36.pyc │ ├── arbitary_slopes_env.py │ ├── bullet_client.py │ ├── planeEstimation │ ├── __pycache__ │ │ └── get_terrain_normal.cpython-36.pyc │ └── get_terrain_normal.py │ ├── robots │ ├── hyq │ │ ├── LICENSE │ │ ├── hyq.json │ │ ├── hyq.urdf │ │ └── meshes │ │ │ ├── head │ │ │ ├── head.stl │ │ │ └── head_camera.stl │ │ │ ├── leg │ │ │ ├── hipassembly.stl │ │ │ ├── lowerleg.stl │ │ │ └── upperleg.stl │ │ │ ├── sensors │ │ │ └── asus_xtion.stl │ │ │ └── trunk │ │ │ └── trunk.stl │ ├── laikago │ │ ├── chassis.mtl │ │ ├── chassis.obj │ │ ├── chassis.stl │ │ ├── chassis_mod.mtl │ │ ├── chassis_mod.obj │ │ ├── chassis_vhacd.obj │ │ ├── chassis_vhacd_mod.obj │ │ ├── chassis_vhacd_mod_zup.mtl │ │ ├── chassis_vhacd_mod_zup.obj │ │ ├── chassis_zup.mtl │ │ ├── chassis_zup.obj │ │ ├── data1.txt │ │ ├── hip_motor.mtl │ │ ├── hip_motor.obj │ │ ├── hip_motor.stl │ │ ├── hip_motor_mirror.mtl │ │ ├── hip_motor_mirror.obj │ │ ├── hip_motor_mirror.stl │ │ ├── laikago.json │ │ ├── laikago.urdf │ │ ├── laikago_tex.jpg │ │ ├── laikago_toes.urdf │ │ ├── laikago_toes_limits.urdf │ │ ├── laikago_toes_zup.urdf │ │ ├── license.txt │ │ ├── lower_leg3.mtl │ │ ├── lower_leg3.obj │ │ ├── lower_leg_3.stl │ │ ├── lower_leg_3_collision.stl │ │ ├── upper_leg.stl │ │ ├── upper_leg_left.mtl │ │ ├── upper_leg_left.obj │ │ ├── upper_leg_left2.mtl │ │ ├── upper_leg_left2.obj │ │ ├── upper_leg_left_vhacd.obj │ │ ├── upper_leg_mirror.mtl │ │ ├── upper_leg_mirror.obj │ │ ├── upper_leg_mirror.stl │ │ ├── upper_leg_mirror2.mtl │ │ ├── upper_leg_mirror2.obj │ │ ├── upper_leg_right.mtl │ │ ├── upper_leg_right.obj │ │ └── upper_leg_right_vhacd.obj │ └── stoch_two_abduction_urdf │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── joint_names_stoch_two_abduction_urdf.yaml │ │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ │ ├── meshes │ │ ├── back_body_link.STL │ │ ├── back_left_abd_link.STL │ │ ├── back_right_abd_link.STL │ │ ├── base_link.STL │ │ ├── bl_lower_hip_link.STL │ │ ├── bl_lower_knee_link.STL │ │ ├── bl_upper_hip_link.STL │ │ ├── bl_upper_knee_link.STL │ │ ├── br_lower_hip_link.STL │ │ ├── br_lower_knee_link.STL │ │ ├── br_upper_hip_link.STL │ │ ├── br_upper_knee_link.STL │ │ ├── fl_lower_hip_link.STL │ │ ├── fl_lower_knee_link.STL │ │ ├── fl_upper_hip_link.STL │ │ ├── fl_upper_knee_link.STL │ │ ├── fr_lower_hip_link.STL │ │ ├── fr_lower_knee_link.STL │ │ ├── fr_upper_hip_link.STL │ │ ├── fr_upper_knee_link.STL │ │ ├── front_body_link.STL │ │ ├── front_left_abd_link.STL │ │ └── front_right_abd_link.STL │ │ ├── package.xml │ │ └── urdf │ │ └── stoch_two_abduction_urdf.urdf │ ├── stoch2_pybullet_env.py │ ├── track │ ├── block1_11_11 │ │ ├── block1_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block2_11_11 │ │ ├── block2_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block2_9_11 │ │ ├── block2_9_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block3_11_11 │ │ ├── block3_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block3_9_11 │ │ ├── block3_9_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block4_9_11 │ │ ├── block4_9_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── final_newest_wedges (1).7z │ ├── newest_wedges (1).7z │ ├── pyramid │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── pyramid.stl │ ├── stairs_wedge_down │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ ├── stairs_wedge.stl │ │ ├── texture.jpg │ │ ├── texture3.jpg │ │ ├── texture_1.jpg │ │ ├── texture_2.jpg │ │ └── texture_4.jpg │ ├── up_sidehill │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── up_sidehill.stl │ ├── visualizer.py │ ├── wedge_11 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_11.stl │ ├── wedge_13 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_13.stl │ ├── wedge_15 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_15.stl │ ├── wedge_7 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_7.stl │ ├── wedge_9 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_9.stl │ ├── wedge_unsymmetric │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_unsymmetric.stl │ └── wedges │ │ ├── block1_11_11 │ │ ├── block1_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ │ ├── block2_11_11 │ │ ├── block2_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ │ ├── block3_11_11 │ │ ├── block3_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ │ ├── wedge_11 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_11.stl │ │ ├── wedge_13 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_13.stl │ │ ├── wedge_15 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_15.stl │ │ ├── wedge_7 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_7.stl │ │ └── wedge_9 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_9.stl │ └── walking_controller.py ├── initial_policies ├── init_policy_Stoch2.npy ├── initial_policy_HyQ.npy └── initial_policy_Laikago.npy ├── media ├── stoch2arbitary.gif ├── stoch2dist.gif ├── stoch2stair1.gif └── stoch2uphill.gif ├── setup.py ├── testHyQ_policy.py ├── testLaikago_policy.py ├── testStoch2_policy.py ├── trainHyQ_policy.py ├── trainLaikago_policy.py ├── trainStoch2_policy.py ├── train_command_HyQ.txt ├── train_command_Laikago.txt ├── train_command_Stoch2.txt └── utils ├── __pycache__ └── ik_class.cpython-36.pyc ├── ik_class.py ├── logger.py └── make_train_plots.py /.idea/.gitignore: -------------------------------------------------------------------------------- 1 | # Default ignored files 2 | /shelf/ 3 | /workspace.xml 4 | -------------------------------------------------------------------------------- /.idea/Stoch2_gym_env.iml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 12 | 13 | 15 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URDF Description package for Part1

6 |

This package contains configuration data, 3D models and launch files 7 | for Part1 robot

8 | 9 | TODO 10 | 11 | BSD 12 | catkin 13 | roslaunch 14 | robot_state_publisher 15 | rviz 16 | joint_state_publisher 17 | gazebo 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/Wedges/downhill/meshes/ramp_5.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/Wedges/downhill/meshes/ramp_5.STL -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/Wedges/ramp_5/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | Part1 3 | 1.0.0 4 | 5 |

URDF Description package for Part1

6 |

This package contains configuration data, 3D models and launch files 7 | for Part1 robot

8 | 9 | TODO 10 | 11 | BSD 12 | catkin 13 | roslaunch 14 | robot_state_publisher 15 | rviz 16 | joint_state_publisher 17 | gazebo 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/Wedges/ramp_5/meshes/ramp_5.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/Wedges/ramp_5/meshes/ramp_5.STL -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/Wedges/uphill/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | Part1 3 | 1.0.0 4 | 5 |

URDF Description package for Part1

6 |

This package contains configuration data, 3D models and launch files 7 | for Part1 robot

8 | 9 | TODO 10 | 11 | BSD 12 | catkin 13 | roslaunch 14 | robot_state_publisher 15 | rviz 16 | joint_state_publisher 17 | gazebo 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/Wedges/uphill/meshes/ramp_5.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/Wedges/uphill/meshes/ramp_5.STL -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/__pycache__/Laikago_pybullet_env.cpython-36.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/__pycache__/Laikago_pybullet_env.cpython-36.pyc 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https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/robots/laikago/chassis.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/chassis_mod.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None.002 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.640000 0.640000 0.640000 8 | Ks 0.800000 0.800000 0.800000 9 | Ni 1.000000 10 | d 1.000000 11 | illum 2 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/chassis_vhacd_mod_zup.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/chassis_zup.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None.003 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd laikago_tex.jpg 14 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/hip_motor.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | map_Kd laikago_tex.jpg 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/hip_motor.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/robots/laikago/hip_motor.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/hip_motor_mirror.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | map_Kd laikago_tex.jpg 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/hip_motor_mirror.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/robots/laikago/hip_motor_mirror.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/laikago.json: -------------------------------------------------------------------------------- 1 | { 2 | "name":"laikago", 3 | "init_pos":[0,0,0.55], 4 | "init_ori":[0,0.5,0.5,0], 5 | "init_angles":[0,-0.7,0,-0.7,0,-0.7,0,-0.7,0,0,0,0], 6 | "urdf_path":"/robots/laikago/laikago_toes.urdf", 7 | "motor_names":[ "motor_fl_hip_joint", 8 | "motor_fl_knee_joint", 9 | "motor_fr_hip_joint", 10 | "motor_fr_knee_joint", 11 | "motor_bl_hip_joint", 12 | "motor_bl_knee_joint", 13 | "motor_br_hip_joint", 14 | "motor_br_knee_joint", 15 | "motor_fl_abd_joint", 16 | "motor_fr_abd_joint", 17 | "motor_bl_abd_joint", 18 | "motor_br_abd_joint"], 19 | "motor_model":{ 20 | "type":"Default", 21 | "kp":20, 22 | "kd":2 23 | } 24 | } -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/laikago_tex.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/robots/laikago/laikago_tex.jpg -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/license.txt: -------------------------------------------------------------------------------- 1 | URDF model created by Erwin Coumans. 2 | Meshes derived from Laikago cad model, used by permission of Unitree. 3 | 4 | If you use the model, add a citation to PyBullet: 5 | 6 | @MISC{coumans2018, 7 | author = {Erwin Coumans and Yunfei Bai}, 8 | title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning}, 9 | howpublished = {\url{http://pybullet.org}}, 10 | year = {2016--2018} 11 | } 12 | 13 | 14 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/lower_leg3.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | map_Kd laikago_tex.jpg 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/lower_leg_3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/robots/laikago/lower_leg_3.stl 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-------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None.005 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd laikago_tex.jpg 14 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/upper_leg_left2.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None.004 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd laikago_tex.jpg 14 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/upper_leg_mirror.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | map_Kd laikago_tex.jpg 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/upper_leg_mirror.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/robots/laikago/upper_leg_mirror.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/upper_leg_mirror2.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.8 0.8 0.8 8 | Ks 0.8 0.8 0.8 9 | d 1 10 | illum 2 11 | map_Kd laikago_tex.jpg 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/laikago/upper_leg_right.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'laikago_textured.blend' 2 | # Material Count: 1 3 | 4 | newmtl None.002 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd laikago_tex.jpg 14 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/stoch_two_abduction_urdf/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | 3 | project(stoch_two_abduction_urdf) 4 | 5 | find_package(catkin REQUIRED) 6 | 7 | catkin_package() 8 | 9 | find_package(roslaunch) 10 | 11 | foreach(dir config launch meshes urdf) 12 | install(DIRECTORY ${dir}/ 13 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) 14 | endforeach(dir) 15 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/stoch_two_abduction_urdf/config/joint_names_stoch_two_abduction_urdf.yaml: -------------------------------------------------------------------------------- 1 | controller_joint_names: ['motor_front_body_spine_joint', 'motor_front_left_abd_joint', 'motor_fl_upper_hip_joint', 'fl_lower_hip_joint', 'motor_fl_upper_knee_joint', 'fl_lower_knee_joint', 'motor_front_right_abd_joint', 'motor_fr_upper_hip_joint', 'fr_lower_hip_joint', 'motor_fr_upper_knee_joint', 'fr_lower_knee_joint', 'motor_back_body_spine_joint', 'motor_back_left_abd_joint', 'motor_bl_upper_hip_joint', 'bl_lower_hip_joint', 'motor_bl_upper_knee_joint', 'bl_lower_knee_joint', 'motor_back_right_abd_joint', 'motor_br_upper_hip_joint', 'br_lower_hip_joint', 'motor_br_upper_knee_joint', 'br_lower_knee_joint', ] 2 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/stoch_two_abduction_urdf/launch/display.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 7 | 10 | 13 | 17 | 21 | 26 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/robots/stoch_two_abduction_urdf/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 12 | 18 | 23 | 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URDF Description package for stoch_two_abduction_urdf

6 |

This package contains configuration data, 3D models and launch files 7 | for stoch_two_abduction_urdf robot

8 | 9 | me 10 | 11 | BSD 12 | catkin 13 | roslaunch 14 | robot_state_publisher 15 | rviz 16 | joint_state_publisher 17 | gazebo 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block1_11_11/block1_11_11.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/track/block1_11_11/block1_11_11.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block1_11_11/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | block1_11_11 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block2_11_11/block2_11_11.stl: 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/gym_sloped_terrain/envs/track/block2_9_11/block2_9_11.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/track/block2_9_11/block2_9_11.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block2_9_11/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | block2_9_11 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block2_9_11/model.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 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21 | 22 | 23 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block3_9_11/block3_9_11.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/track/block3_9_11/block3_9_11.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block3_9_11/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | block3_9_11 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block3_9_11/model.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block4_9_11/block4_9_11.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/track/block4_9_11/block4_9_11.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block4_9_11/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | wedge4_9_11 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/block4_9_11/model.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/final_newest_wedges (1).7z: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/track/final_newest_wedges (1).7z -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/newest_wedges (1).7z: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/track/newest_wedges (1).7z -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/pyramid/model.config: 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| 21 | 22 | 23 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/up_sidehill/up_sidehill.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/gym_sloped_terrain/envs/track/up_sidehill/up_sidehill.stl -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/visualizer.py: -------------------------------------------------------------------------------- 1 | 2 | import pybullet as p 3 | import pybullet_data 4 | import os 5 | import time 6 | ''' 7 | urdf file in the same folder as that of the python script 8 | ''' 9 | file_path = os.getcwd() 10 | 11 | #Enter the file name with a '/' in front of it 12 | file_name = "wedge_" 13 | ''' 14 | these comands are explained in detail in the next subpart 15 | for now u can directly use it to visualize the model 16 | ''' 17 | p.connect(p.GUI) 18 | p.loadURDF(os.path.join(pybullet_data.getDataPath(), "plane.urdf"), 0, 0, 0) 19 | for i in range(6): 20 | robot = p.loadURDF(file_name+str(5+2*i)+".urdf") 21 | p.resetBasePositionAndOrientation(robot, [2*i, 0, 0],p.getQuaternionFromEuler([0,0,-1.57])) 22 | p.setGravity(0,0,-10) 23 | 24 | while(True): 25 | time.sleep(0.01) 26 | p.stepSimulation() -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/wedge_11/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | wedge_11 4 | 1.0 5 | model.sdf 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /gym_sloped_terrain/envs/track/wedge_11/model.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/StochLab/SlopedTerrainLinearPolicy/aaebee21e6ddcd7597bd8b103f4350b9347744bf/media/stoch2uphill.gif -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | 2 | from setuptools import setup 3 | 4 | setup(name='gym_stoch2_sloped_terrain', 5 | version='0.0.1', 6 | python_requires= '~=3.6', 7 | install_requires=['gym~=0.17.2','pybullet','sklearn','matplotlib','fabulous','dataclasses'] # And any other dependencies foo needs 8 | ) 9 | -------------------------------------------------------------------------------- /train_command_HyQ.txt: -------------------------------------------------------------------------------- 1 | python3 trainHyQ_policy.py --lr 0.05 --noise 0.03 --directions 2 --gait trot --logdir 19Oct1 --policy initial_policy_HyQ.npy --action_dim 20 --msg "Training with tStrut IP without DR" --episode_length 400 --eval_step 3 --domain_Rand 0 2 | -------------------------------------------------------------------------------- /train_command_Laikago.txt: -------------------------------------------------------------------------------- 1 | python3 trainLaikago_policy.py --lr 0.05 --noise 0.04 --directions 3 --gait trot --logdir 21Oct4 --policy initial_policy_Laikago.npy --action_dim 20 --msg "Training with abd spread" --episode_length 400 --eval_step 3 --domain_Rand 0 --curi_learn 10 2 | -------------------------------------------------------------------------------- /train_command_Stoch2.txt: -------------------------------------------------------------------------------- 1 | python3 train_policy.py --lr 0.05 --noise 0.04 --directions 3 --gait trot --logdir 3Aug2 --env Stoch2-v0 --policy ./initial_policies/init_policy_Stoch2.npy --action_dim 20 --msg "Training with tStrut IP without DR" --episode_length 400 --eval_step 3 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