update examples

LeCAR-Lab · Sep 25, 2024 · 87d2ec2 · 87d2ec2
1 parent 4550c67
commit 87d2ec2
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Showing 5 changed files with 30 additions and 20 deletions.
diff --git a/dial_mpc/core/dial_core.py b/dial_mpc/core/dial_core.py
@@ -20,6 +20,7 @@
 
 import dial_mpc.envs as dial_envs
 from dial_mpc.utils.io_utils import get_example_path, load_dataclass_from_dict
+from dial_mpc.examples import examples
 
 plt.style.use("science")
 
@@ -201,14 +202,6 @@ def reverse_scan(rng_Y0_state, factor):
     config_or_example.add_argument("--list-examples", action="store_true")
     args = parser.parse_args()
 
-    examples = [
-        "unitree_h1_jog",
-        "unitree_h1_push_crate",
-        "unitree_go2_trot",
-        "unitree_go2_seq_jump",
-        "unitree_go2_crate_climb",
-    ]
-
     if args.list_examples:
         print("Examples:")
         for example in examples:

diff --git a/dial_mpc/envs/unitree_go2_env.py b/dial_mpc/envs/unitree_go2_env.py
@@ -778,7 +778,7 @@ def step(
             + reward_energy * 0.0000
             + reward_pitch * 0.0
             + reward_roll * 0.0
-            + reward_contact * 0.2
+            + reward_contact * 0.1
             - penalty_contact * 0.0
         )
         # jax.debug.print("{geom}", geom=pipeline_state.contact.geom)

diff --git a/dial_mpc/examples/__init__.py b/dial_mpc/examples/__init__.py
@@ -0,0 +1,7 @@
+examples = [
+    "unitree_h1_jog",
+    "unitree_h1_push_crate",
+    "unitree_go2_trot",
+    "unitree_go2_seq_jump",
+    "unitree_go2_crate_climb",
+]
diff --git a/dial_mpc/examples/unitree_go2_crate_climb.yaml b/dial_mpc/examples/unitree_go2_crate_climb.yaml
@@ -0,0 +1,21 @@
+# DIAL-MPC
+seed: 0
+output_dir: unitree_go2_crate_climb
+n_steps: 100
+
+env_name: unitree_go2_crate_climb
+Nsample: 2048
+Hsample: 25
+Hnode: 5
+Ndiffuse: 2
+Ndiffuse_init: 10
+temp_sample: 0.05
+horizon_diffuse_factor: 0.9
+traj_diffuse_factor: 0.5
+update_method: mppi
+
+# Base environment
+dt: 0.02
+timestep: 0.02
+leg_control: torque
+action_scale: 1.0
diff --git a/dial_mpc/examples/unitree_h1_push_crate.yaml b/dial_mpc/examples/unitree_h1_push_crate.yaml
@@ -26,14 +26,3 @@ default_vy: 0.0
 default_vyaw: 0.0
 ramp_up_time: 2.0
 gait: slow_walk
-
-# Sim
-# sim_model_path: /home/haoru/research/dial/dial-mpc/dial_mpc/models/unitree_h1/scene_real_feet.xml
-sim_model_path: /home/haoru/research/dial/dial-mpc/dial_mpc/models/unitree_h1/scene_position_real_feet.xml
-# sim_leg_control: torque
-sim_leg_control: position
-plot: false
-record: false
-real_time_factor: 1.0
-sim_dt: 0.005
-sync_mode: false