Add Unitree H1 Walk task #336

AntoSave · 2024-08-04T10:05:16Z

This PR adds a new task to make the Unitree H1 humanoid robot walk towards a given setpoint with MJPC. Some remarks on this PR:

As for the robot model, I used the one provided by Menagerie
The obtained results are moderately satisfying as the robot successfully completes the task without "strange" behaviors overall, however there is still room from improvement
Goal is given with a marker (a body with disabled collisions) similarly to the QuadrupedFlat task
I am getting good results with up to 20% real-time on my machine (Ryzen 9 7950x), and I would like suggestions on how to further reduce the planning time

Here is a video that showcases the agent's performances:

h1_walk_3.mp4

I would like to get some feedback on the overall implementation as well as any modification needed to merge this PR.
Thanks for your time!

[ADD] Add Unitree H1 Walk baseline task

…into google-deepmind-main

google-cla · 2024-08-04T10:05:20Z

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thowell · 2024-08-04T21:28:21Z

mjpc/tasks/h1/h1.xml.patch

Please remove the file links to your machine. You can replace them with something generic like the other .patch files.

thowell · 2024-08-04T21:29:07Z

mjpc/tasks/h1/h1.xml.patch

+   </actuator>
+-</mujoco>
+</mujoco>
+\ No newline at end of file


The xml file should have a new line at the end.

thowell · 2024-08-04T21:29:29Z

mjpc/tasks/h1/h1.xml.patch

+         diaginertia="0.0490211 0.0445821 0.00824619"/>
+       <freejoint/>
+       <geom class="visual" mesh="pelvis"/>
+-      <body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">


Maybe check to see if this diff can be smaller?

thowell · 2024-08-04T21:29:59Z

mjpc/tasks/h1/walk/task.xml

+  <custom>
+    <!-- agent -->
+    <numeric name="agent_planner" data="2" />
+    <numeric name="agent_horizon" data="0.6" />


Possibly reduce the planning horizon.

thowell · 2024-08-04T21:30:59Z

mjpc/tasks/h1/walk/walk.cc

+  mju_scl3(&residual[counter], &residual[counter], 0.1 * standing);
+  counter += 3;
+  // ----- posture up ----- //
+  mju_copy(&residual[counter], data->qpos + 17, model->nq - 17); //First 7 are freejoint coord, the other 10 are lower body joints


Add a space after '//'.

thowell · 2024-08-04T21:31:07Z

mjpc/tasks/h1/walk/walk.cc

+  mju_copy(&residual[counter], data->qpos + 17, model->nq - 17); //First 7 are freejoint coord, the other 10 are lower body joints
+  counter += model->nq - 17;
+  // ----- posture down ----- //
+  mju_copy(&residual[counter], data->qpos + 7, model->nq - 16); //First 7 are freejoint coord, the other 10 are lower body joints


Add a space after '//'.

thowell · 2024-08-04T21:31:34Z

mjpc/tasks/h1/walk/walk.cc

+  mju_sub(forward_target, goal_point, torso_position, 2);
+  mju_normalize(forward_target, 2);
+
+  // com vel


If we don't use this term, let's remove it.

thowell · 2024-08-04T21:33:15Z

mjpc/tasks/h1/walk/walk.cc

+  return mju_abs(value) < 1e-6 ? 0.0 : value;
+}
+
+}  // namespace mjpc::h1


Please format this file, see this reference.

thowell · 2024-08-04T21:36:14Z

python/mujoco_mpc/demos/agent/h1_walk.py

+    p.start()
+    while True:
+        action = agent.get_action()
+        q.put(action)


Please format: pyink h1_walk.py --pyink-indentation 2 --line-length 80

thowell · 2024-08-04T21:39:25Z

This is a great task, thanks for the contribution!

Things to improve performance:

shorten the planning horizon: <numeric name="agent_horizon" data="0.35" />
change the integrator to implicitfast: <numeric name="agent_integrator" data="3"/>
modify the model (see the MJX humanoid example)
- change the solver settings
- reduce the number of contacts to only include the feet (when we merge Separate planner and estimator model loading #307 it will be possible to have a separate planning and simulation model)

Additionally, can you please sign the CLA? Thanks!

thowell · 2024-08-04T21:40:10Z

Have you tried this task with the G1 model?

AntoSave · 2024-08-09T21:36:28Z

Thank you for the time you spent on reviewing the PR, I really appreciate it.

This is a great task, thanks for the contribution!

Things to improve performance:

shorten the planning horizon: <numeric name="agent_horizon" data="0.35" />

change the integrator to implicitfast: <numeric name="agent_integrator" data="3"/>

modify the model (see the MJX humanoid example)

change the solver settings

reduce the number of contacts to only include the feet (when we merge Separate planner and estimator model loading #307 it will be possible to have a separate planning and simulation model)

I managed to get a ~30% speed gain by moving to the implicitfast integrator and reducing the agent's horizon to 0.4s. I am reluctant to go lower as I experienced some instability, but I will surely try to reduce the number of contatcts to see if that helps.

Additionally, can you please sign the CLA? Thanks!

Signed it

Have you tried this task with the G1 model?

Not yet, but I'm going to. However, for the time being I will focus on H1 tasks as it is part of my master's thesis.

…ter reaching position reference (mocap position) - [REF] Improved leg cross detection in cost function

- [REF] Split "Posture up" residual in "Posture arms" and "Posture torso" for a better control on the task - [FIX] Reduced "Leg cross" weight to 1 as it produced unwanted behaviors - [REM] Removed unused residual "Posture down"

…tely

AntoSave added 16 commits April 26, 2024 21:49

[REF] Increased max message size for grpc servers

6d54f28

[ADD] Add Unitree H1 Walk task

7d67c12

[ADD] Add Unitree H1 Walk baseline task

[ADD] Add utility for visualization in mujoco

5b89bc5

[ADD] Add utility for plotting live graphs

3d3017f

[ADD] Add utility for live parameter editing

22147db

[REF] Model checkpoint for H1 walk

e256ed2

[DOC] Fix comment

12a9a21

[ADD] Point plotting in mujoco

cbb6cf3

[ADD] python script for h1 walk tuning

2edb239

[ADD] Add a new cost term which penalizes the feet crossing

97d7924

[REM] Useless files for the PR

cfc9ad6

[REM] H1 walk baseline task, as it shouldn't be in the PR

f902df5

[REM] Useless comments

994054c

[DOC] Updated comments

d45fde7

Merge branch 'main' of https://github.com/google-deepmind/mujoco_mpc …

45b15c8

…into google-deepmind-main

Merge branch 'google-deepmind-main' into feature-h1-walk

813e622

thowell reviewed Aug 4, 2024

View reviewed changes

thowell self-assigned this Aug 4, 2024

AntoSave added 10 commits August 14, 2024 10:23

[REF] Reduced agent horizon to 0.4s

cb20fdb

[REF] Changed agent integrator to 'implicitfast'

636f8b7

[DOC] Added spaces after '//'

9dfcc14

[REM] Removed useless function and comments

d73cd6a

[REF] Formatted code with 'clang-format' vscode extension

47228ab

[REF] Removed links to local machine in patch file

65132ee

- [ADD] Robot now follows orientation reference (mocap quaternion) af…

9954bc0

…ter reaching position reference (mocap position) - [REF] Improved leg cross detection in cost function

[DOC] Updated comment

0282b27

[REF] 'Face Goal' now takes into account the four orientations separa…

6cb23e4

…tely

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Add Unitree H1 Walk task #336

Add Unitree H1 Walk task #336

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Add Unitree H1 Walk task #336

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thowell commented Aug 4, 2024

thowell commented Aug 4, 2024

AntoSave commented Aug 9, 2024

AntoSave commented Aug 4, 2024 •

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