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Starter

Set Up

This repository contains multiple submodules. To clone all of them

git clone --recurse-submodules [email protected]:real-stanford/umi-on-legs.git

Create the conda environment. I highly recommend using Mamba, which is faster, but if you insist on Conda, then replace mamba commands below with conda

cd mani-centric-wbc/
mamba env create -f isaac.yml
mamba activate isaac

Then, in the mani-centric-wbc/'s root, install mani-centric-wbc's legged_gym as a pip package

pip install -e .

Finally, follow instructions on NVIDIA's developer portal to install IsaacGym. The Isaac Gym pip package should be installed in the mamba environment created above.

Downloads

Download manipulation trajectories preprocessed for the whole-body controller pipeline

wget -qO- http://real.stanford.edu/umi-on-legs/wbc/data.zip | bsdtar -xvf- -C ./

as well as the pretrained checkpoints

wget -qO- http://real.stanford.edu/umi-on-legs/wbc/checkpoints.zip | bsdtar -xvf- -C ./

Rollout Controller

To visualize the controller in simulation

python scripts/play.py --ckpt_path checkpoints/tossing/ours-real/model.pt --trajectory_file_path data/tossing.pkl --device cuda:0 --num_steps 1000 --num_envs 1  --visualize

This will also dump out the states needed for Blender visualization. See the visualization instructions for more details.

🪲 Troubleshooting IsaacGym

A known issue with IsaacGym installation is that library paths aren't correctly updated, leading to the following error message

ImportError: libpython3.8.so.1.0: cannot open shared object file: No such file or directory

To bypass this, add your mamba environment's library path to the library path environment variable by prepending commands with LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/path/to/your/mambaforge/envs/isaac/lib/

Evaluation

To evaluate our controller in simulation

python scripts/evaluate.py env.sim_device=cuda:0 env.graphics_device_id=0 env.cfg.env.episode_length_s=17.0 env.tasks.reaching.sequence_sampler.file_path=data/tossing.pkl ckpt_path=checkpoints/tossing/ours/model.pt env.tasks.reaching.target_obs_times="[-0.06,-0.04,-0.02,0.0,0.02,0.04,0.06,1.0]"

The summary that gets printed out at the end by weights and biases gives the metrics we care about.

  • eval/task/reaching/pos_err/mean and eval/task/reaching/orn_err/mean gives the position and orientation errors in meters and radians, respectively.
  • eval/time_outs/sum gives the proxy for survival rate. If the robot didn't terminate midway through the episode, then the episode should have timed out.
  • eval/constraint/energy/sum_electrical_power/mean gives the average power usage in Watts.

📈 Training Curves & Evaluation Logs

Please find the training and evaluation runs in this report.

To evaluate the no-preview baseline in simulation

python scripts/evaluate.py env.sim_device=cuda:0 env.graphics_device_id=0 env.cfg.env.episode_length_s=17.0 env.tasks.reaching.sequence_sampler.file_path=data/tossing.pkl ckpt_path=checkpoints/tossing/no-preview/model.pt env.tasks.reaching.target_obs_times="[0.0]"

To evaluate the body-space baseline in simulation

python scripts/evaluate.py env.sim_device=cuda:0 env.graphics_device_id=0 env.cfg.env.episode_length_s=17.0 env.tasks.reaching.sequence_sampler.file_path=data/tossing.pkl ckpt_path=checkpoints/tossing/body-space/model.pt env.tasks.reaching.target_obs_times="[-0.06,-0.04,-0.02,0.0,0.02,0.04,0.06,1.0]" env.tasks.reaching.target_relative_to_base=true env.tasks.reaching.pos_obs_scale=1.0

To evaluate the random trajectories baseline in simulation

python scripts/evaluate.py env.sim_device=cuda:0 env.graphics_device_id=0 env.cfg.env.episode_length_s=17.0 env.tasks.reaching.sequence_sampler.file_path=data/tossing.pkl ckpt_path=checkpoints/tossing/random-trajs/model.pt env.tasks.reaching.target_obs_times="[-0.06,-0.04,-0.02,0.0,0.02,0.04,0.06,1.0]"

To evaluate the DeepWBC baseline in simulation

python scripts/evaluate.py env.sim_device=cuda:0 env.graphics_device_id=0 env.cfg.env.episode_length_s=17.0 env.tasks.reaching.sequence_sampler.file_path=data/tossing.pkl ckpt_path=checkpoints/tossing/deepwbc/model.pt env.tasks.reaching.target_obs_times="[0.0]" env.tasks.reaching.target_relative_to_base=true env.tasks.reaching.pos_obs_scale=1.0