diff --git a/judo/controller/controller.py b/judo/controller/controller.py index bca3361a..75cdc07e 100644 --- a/judo/controller/controller.py +++ b/judo/controller/controller.py @@ -14,7 +14,7 @@ from judo.gui import slider from judo.optimizers import Optimizer, OptimizerConfig, get_registered_optimizers from judo.tasks import Task, TaskConfig, get_registered_tasks -from judo.utils.mujoco import RolloutBackend, make_model_data_pairs +from judo.utils.mujoco_utils import RolloutBackend, make_model_data_pairs from judo.utils.normalization import ( IdentityNormalizer, Normalizer, diff --git a/judo/models/xml/cartpole.xml b/judo/models/xml/cartpole.xml index 967d91c2..0da82692 100644 --- a/judo/models/xml/cartpole.xml +++ b/judo/models/xml/cartpole.xml @@ -42,4 +42,10 @@ + + + + + + diff --git a/judo/models/xml/keith/assets/133026_qsm_m3_2_i.part b/judo/models/xml/keith/assets/133026_qsm_m3_2_i.part new file mode 100644 index 00000000..068496bc --- /dev/null +++ b/judo/models/xml/keith/assets/133026_qsm_m3_2_i.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "3cbdee4fb0d59ba9b7b1e4b5", + "fullConfiguration": "default", + "id": "IwrkC6+ulJpzO4Zi5", + "isStandardContent": false, + "name": "133026_QSM-M3-2-I <1>", + "partId": "JFH", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/92010a778_passivated_18_8_stainless_steel_phillips_flat_head_screw.part b/judo/models/xml/keith/assets/92010a778_passivated_18_8_stainless_steel_phillips_flat_head_screw.part new file mode 100644 index 00000000..ed446b51 --- /dev/null +++ b/judo/models/xml/keith/assets/92010a778_passivated_18_8_stainless_steel_phillips_flat_head_screw.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "466338c70cd0bb67d969b077", + "fullConfiguration": "default", + "id": "MsCBUSIKNSVNIvbg4", + "isStandardContent": false, + "name": "92010A778_Passivated 18-8 Stainless Steel Phillips Flat Head Screw <1>", + "partId": "JFH", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/92703a444_18_8_stainless_steel_torx_flat_head_screws.part b/judo/models/xml/keith/assets/92703a444_18_8_stainless_steel_torx_flat_head_screws.part new file mode 100644 index 00000000..bc463782 --- /dev/null +++ b/judo/models/xml/keith/assets/92703a444_18_8_stainless_steel_torx_flat_head_screws.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "34c9fe1be3bc8f2bb9950579", + "fullConfiguration": "default", + "id": "MYTDCRgDoe8b5/Kum", + "isStandardContent": false, + "name": "92703A444_18-8 Stainless Steel Torx Flat Head Screws <1>", + "partId": "JFH", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/99178a102_heavy_duty_side_mount_external_retaining_ring.part b/judo/models/xml/keith/assets/99178a102_heavy_duty_side_mount_external_retaining_ring.part new file mode 100644 index 00000000..9b5bca46 --- /dev/null +++ b/judo/models/xml/keith/assets/99178a102_heavy_duty_side_mount_external_retaining_ring.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "0ad0a1e78a5098829955e572", + "fullConfiguration": "default", + "id": "MyvjCdIumerpryizX", + "isStandardContent": false, + "name": "99178A102_Heavy Duty Side-Mount External Retaining Ring <1>", + "partId": "JFH", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/bearing_10id_15od_3_r_o_as.part b/judo/models/xml/keith/assets/bearing_10id_15od_3_r_o_as.part new file mode 100644 index 00000000..71b4eee2 --- /dev/null +++ b/judo/models/xml/keith/assets/bearing_10id_15od_3_r_o_as.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "e084450080eace000d7be481", + "fullConfiguration": "default", + "id": "MgLzX7sI5NHKRUmac", + "isStandardContent": false, + "name": "BEARING-10ID-15OD-3-R-O-AS <1>", + "partId": "JF7", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/bearing_12id_18od_4_r_2z_as.part b/judo/models/xml/keith/assets/bearing_12id_18od_4_r_2z_as.part new file mode 100644 index 00000000..9f3edab2 --- /dev/null +++ b/judo/models/xml/keith/assets/bearing_12id_18od_4_r_2z_as.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "3bd80c296bcbfc4cd891f505", + "fullConfiguration": "default", + "id": "MLCXGkKgcrRNma6Qi", + "isStandardContent": false, + "name": "BEARING-12ID-18OD-4-R-2Z-AS <1>", + "partId": "KFHB", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/bearing_15id_21od_4_r_2z_as.part b/judo/models/xml/keith/assets/bearing_15id_21od_4_r_2z_as.part new file mode 100644 index 00000000..0019629b --- /dev/null +++ b/judo/models/xml/keith/assets/bearing_15id_21od_4_r_2z_as.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "47c9270e5dbd6633af48a96c", + "fullConfiguration": "default", + "id": "MuNnNFBhbP7Db9mr9", + "isStandardContent": false, + "name": "BEARING-15ID-21OD-4-R-2Z-AS <2>", + "partId": "KFLB", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/bearing_4id_10od_3_fr_o_as.part b/judo/models/xml/keith/assets/bearing_4id_10od_3_fr_o_as.part new file mode 100644 index 00000000..019a4319 --- /dev/null +++ b/judo/models/xml/keith/assets/bearing_4id_10od_3_fr_o_as.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "ef8930f29bca612a0ac2be05", + "fullConfiguration": "default", + "id": "Mv851xfiVcRV3a4hK", + "isStandardContent": false, + "name": "BEARING-4ID-10OD-3-FR-O-AS <1>", + "partId": "JF3", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/bearing_4id_12od_4_r_2z_as.part b/judo/models/xml/keith/assets/bearing_4id_12od_4_r_2z_as.part new file mode 100644 index 00000000..306e5df5 --- /dev/null +++ b/judo/models/xml/keith/assets/bearing_4id_12od_4_r_2z_as.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "848abd135acbd0b3ffb9f83a", + "fullConfiguration": "default", + "id": "MrelTBLagcf6cy0sn", + "isStandardContent": false, + "name": "BEARING-4ID-12OD-4-R-2Z-AS <2>", + "partId": "KFDB", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/blank__cantilever_mount__wrist_b___amp_beta.part b/judo/models/xml/keith/assets/blank__cantilever_mount__wrist_b___amp_beta.part new file mode 100644 index 00000000..fb8d6f2d --- /dev/null +++ b/judo/models/xml/keith/assets/blank__cantilever_mount__wrist_b___amp_beta.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MYdtnH0iT1xGPGn+e", + "isStandardContent": false, + "name": "BLANK, CANTILEVER MOUNT, WRIST B+, AMP-BETA <1>", + "partId": "Ra0D", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/bogen_magnet__configuration_default.part b/judo/models/xml/keith/assets/bogen_magnet__configuration_default.part new file mode 100644 index 00000000..a5a0d7c5 --- /dev/null +++ b/judo/models/xml/keith/assets/bogen_magnet__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": "Mfxa3h75B05DfvlpT", + "isStandardContent": false, + "name": "BOGEN MAGNET <1>", + "partId": "RuJD", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/bushing_2id_3_5od_3_nf_p_j_glide.part b/judo/models/xml/keith/assets/bushing_2id_3_5od_3_nf_p_j_glide.part new file mode 100644 index 00000000..520e23a5 --- /dev/null +++ b/judo/models/xml/keith/assets/bushing_2id_3_5od_3_nf_p_j_glide.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": 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"type": "Part" +} diff --git a/judo/models/xml/keith/assets/middle_idler_shaft__configuration_default.part b/judo/models/xml/keith/assets/middle_idler_shaft__configuration_default.part new file mode 100644 index 00000000..977ccb34 --- /dev/null +++ b/judo/models/xml/keith/assets/middle_idler_shaft__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": "MGeaECexj88CgEm5b", + "isStandardContent": false, + "name": "MIDDLE_IDLER_SHAFT <1>", + "partId": "RmRD", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/palm_front_clasp.part b/judo/models/xml/keith/assets/palm_front_clasp.part new file mode 100644 index 00000000..9bc1da2a --- /dev/null +++ b/judo/models/xml/keith/assets/palm_front_clasp.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MDMiOEOnjZY5UOtHS", + "isStandardContent": false, + "name": "palm front clasp <1>", + "partId": "RD2H", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/palm_main_structure.part b/judo/models/xml/keith/assets/palm_main_structure.part new file mode 100644 index 00000000..e974e8c7 --- /dev/null +++ b/judo/models/xml/keith/assets/palm_main_structure.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MPWHJTLtiqLPS9RbN", + "isStandardContent": false, + "name": "palm main structure <1>", + "partId": "RS4H", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/palm_middle_clasp.part b/judo/models/xml/keith/assets/palm_middle_clasp.part new file mode 100644 index 00000000..ace8fe39 --- /dev/null +++ b/judo/models/xml/keith/assets/palm_middle_clasp.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MKgod93hia7VQn8TR", + "isStandardContent": false, + "name": "palm middle clasp <1>", + "partId": "RF2H", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/part_12.part b/judo/models/xml/keith/assets/part_12.part new file mode 100644 index 00000000..d6360b46 --- /dev/null +++ b/judo/models/xml/keith/assets/part_12.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": 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-0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MH3Cg4cLsS8DO0kf/", + "isStandardContent": false, + "name": "Part 15 <1>", + "partId": "RZ+D", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/part_16.part b/judo/models/xml/keith/assets/part_16.part new file mode 100644 index 00000000..b3d3211f --- /dev/null +++ b/judo/models/xml/keith/assets/part_16.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MN+v4WIIFKQDmB07Q", + "isStandardContent": false, + "name": "Part 16 <1>", + "partId": "RZ+H", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/part_17.part b/judo/models/xml/keith/assets/part_17.part new file mode 100644 index 00000000..f41c5031 --- /dev/null +++ b/judo/models/xml/keith/assets/part_17.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MMX7XgIYHQwhWGf+e", + "isStandardContent": false, + "name": "Part 17 <1>", + "partId": "RZ+L", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/part_18.part b/judo/models/xml/keith/assets/part_18.part new file mode 100644 index 00000000..dae10bdd --- /dev/null +++ b/judo/models/xml/keith/assets/part_18.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "Mfg32XWJ4ul06EIvJ", + "isStandardContent": false, + "name": "Part 18 <1>", + "partId": "RZ+P", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/part_19.part b/judo/models/xml/keith/assets/part_19.part new file mode 100644 index 00000000..3b09d873 --- /dev/null +++ b/judo/models/xml/keith/assets/part_19.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MVePTnF+/7RGdqRoN", + "isStandardContent": false, + "name": "Part 19 <1>", + "partId": "Rc+D", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/part_9__configuration_default.part b/judo/models/xml/keith/assets/part_9__configuration_default.part new file mode 100644 index 00000000..b8204f36 --- /dev/null +++ b/judo/models/xml/keith/assets/part_9__configuration_default.part 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"partId": "RiMD", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/rai_012016_distal_fingerpad__configuration_default.part b/judo/models/xml/keith/assets/rai_012016_distal_fingerpad__configuration_default.part new file mode 100644 index 00000000..54be8fc9 --- /dev/null +++ b/judo/models/xml/keith/assets/rai_012016_distal_fingerpad__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": "M6K5c4/s62T+na+Rp", + "isStandardContent": false, + "name": "RAI-012016 DISTAL_FINGERPAD <1>", + "partId": "RlLD", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/rai_012017_middle_proximal_pad__configuration_default.part 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b/judo/models/xml/keith/assets/rai_012018_pulley_proximal_to_ab_ad__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": "M4iYSqMaQXFOcmpk/", + "isStandardContent": false, + "name": "RAI-012018 PULLEY PROXIMAL TO AB/AD <1>", + "partId": "RxED", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/rai_012019_pulley_proximal_to_distal__configuration_default.part b/judo/models/xml/keith/assets/rai_012019_pulley_proximal_to_distal__configuration_default.part new file mode 100644 index 00000000..91dd0475 --- /dev/null +++ b/judo/models/xml/keith/assets/rai_012019_pulley_proximal_to_distal__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": "Mf3fiQHmMgm0YaVIg", + "isStandardContent": false, + "name": "RAI-012019 PULLEY PROXIMAL TO DISTAL <1>", + "partId": "RxEH", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/rai_012021_pulley_ab_ad_to_distal__configuration_default.part b/judo/models/xml/keith/assets/rai_012021_pulley_ab_ad_to_distal__configuration_default.part new file mode 100644 index 00000000..8058caf4 --- /dev/null +++ b/judo/models/xml/keith/assets/rai_012021_pulley_ab_ad_to_distal__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": 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b/judo/models/xml/keith/assets/rai_012023__configuration_default.part new file mode 100644 index 00000000..609004b3 --- /dev/null +++ b/judo/models/xml/keith/assets/rai_012023__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": "MrEx5GmyJUIVlff7I", + "isStandardContent": false, + "name": "RAI-012023 <2>", + "partId": "ROQD", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/rai_012024__configuration_default.part b/judo/models/xml/keith/assets/rai_012024__configuration_default.part new file mode 100644 index 00000000..a32f85d3 --- /dev/null +++ b/judo/models/xml/keith/assets/rai_012024__configuration_default.part @@ -0,0 +1,13 @@ +{ + "configuration": "List_nsdEm1g0iTLRvx=Default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "30fb69f4eccb67eaf3b1f655", + "fullConfiguration": "List_nsdEm1g0iTLRvx=Default", + "id": "Mf+txBh027pvJHp9c", + "isStandardContent": false, + "name": "RAI-012024 <1>", + "partId": "RQID", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/swivel_mount_left.part b/judo/models/xml/keith/assets/swivel_mount_left.part new file mode 100644 index 00000000..200cc81f --- /dev/null +++ b/judo/models/xml/keith/assets/swivel_mount_left.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MxAHXdq40rNxaeYi+", + "isStandardContent": false, + "name": "swivel mount left <1>", + "partId": "Rk6D", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/assets/swivel_mount_right.part b/judo/models/xml/keith/assets/swivel_mount_right.part new file mode 100644 index 00000000..6a6c088e --- /dev/null +++ b/judo/models/xml/keith/assets/swivel_mount_right.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "078d73b5d2e9adfe12abdfb0", + "documentMicroversion": "b2a81a5625c018d7210569f4", + "elementId": "6e96f0c1b94fd73a107f0195", + "fullConfiguration": "default", + "id": "MPQnG5Gcm6qIWuQAc", + "isStandardContent": false, + "name": "swivel mount right <1>", + "partId": "RH7D", + "suppressed": false, + "type": "Part" +} diff --git a/judo/models/xml/keith/config.json b/judo/models/xml/keith/config.json new file mode 100644 index 00000000..8591bb4a --- /dev/null +++ b/judo/models/xml/keith/config.json @@ -0,0 +1,7 @@ +{ + "url": "https://theaiinstitute.onshape.com/documents/078d73b5d2e9adfe12abdfb0/w/ea8cfa794dc56d979f618f63/e/04bd2b99edf7cc7359393397", + "outputFormat": "mujoco", + "debug": false, + "merge_stls": true, + "simplify_stls": true +} diff --git a/judo/models/xml/keith/robot.xml b/judo/models/xml/keith/robot.xml new file mode 100644 index 00000000..da7e8fd6 --- /dev/null +++ b/judo/models/xml/keith/robot.xml @@ -0,0 +1,211 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/judo/models/xml/keith/scene.xml b/judo/models/xml/keith/scene.xml new file mode 100644 index 00000000..b995a638 --- /dev/null +++ b/judo/models/xml/keith/scene.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/judo/utils/mujoco.py b/judo/utils/mujoco_utils.py similarity index 100% rename from judo/utils/mujoco.py rename to judo/utils/mujoco_utils.py diff --git a/judo/utils/speed_benchmark.py b/judo/utils/speed_benchmark.py new file mode 100644 index 00000000..725a26ec --- /dev/null +++ b/judo/utils/speed_benchmark.py @@ -0,0 +1,206 @@ +# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved. + +import time +from dataclasses import dataclass, field +from typing import List + +import mujoco +import mujoco.viewer +import numpy as np +import tyro +from mujoco import MjData, MjModel, rollout + +from judo import MODEL_PATH + + +def get_state(model: MjModel, data: list[MjData]) -> np.ndarray: + """ + Get the state of the environment. + + Args: + model: The mujoco model. + data: The mujoco data. + + Returns: + The state of the environment. + + Note: + The state is a numpy array of shape (num_envs, state_size). + """ + num_envs = len(data) + full_physics = mujoco.mjtState.mjSTATE_FULLPHYSICS + state_size = mujoco.mj_stateSize(model, full_physics) + state = np.zeros((num_envs, state_size), dtype=np.float64) + for i in range(num_envs): + mujoco.mj_getState(model, data[i], state[i], full_physics) + return state + + +@dataclass +class SpeedBenchmarkConfig: + """A class to configure the speed benchmark.""" + + # model_path: str = field(default=str(MODEL_PATH / "xml/cartpole.xml")) + model_path: str = field(default=str(MODEL_PATH / "xml/keith/scene.xml")) + duration: List[float] = field(default_factory=lambda: [0.1, 0.2, 0.5, 1.0, 2.0, 3.0]) + num_envs: List[int] = field(default_factory=lambda: [1, 2, 4, 8, 16, 32, 48, 64]) + visualize: bool = field(default=False) + + +class SpeedBenchmark: + """A class to benchmark the speed of a function.""" + + def __init__(self, config: SpeedBenchmarkConfig) -> None: + """ + Initialize the SpeedBenchmark class. + + Args: + config: The configuration for the speed benchmark. + """ + self.config = config + self.model = MjModel.from_xml_path(config.model_path) + self.rollout_ = rollout.Rollout(nthread=config.num_envs[0]) + self.max_num_envs = max(config.num_envs) + self.data = [MjData(self.model) for _ in range(self.max_num_envs)] + + # Print model keyframe information + if self.model.nkey > 0: + print("\nModel Keyframes:") + print(f" Number of keyframes: {self.model.nkey}") + print(f" Key times: {self.model.key_time}") + print(f" First keyframe qpos: {self.model.key_qpos[0]}") + print(f" First keyframe qvel: {self.model.key_qvel[0]}") + print(f" First keyframe ctrl: {self.model.key_ctrl[0]}") + else: + print("\nModel has no keyframes defined.") + + def reset(self) -> None: + """ + Reset the simulation. + + Note: + The simulation is reset to the first keyframe. + """ + assert self.model.nkey > 0, "Model has no keyframes defined." + for i in range(self.max_num_envs): + mujoco.mj_resetData(self.model, self.data[i]) + self.data[i].time = self.model.key_time[0] + self.data[i].qpos[:] = self.model.key_qpos[0] + self.data[i].qvel[:] = self.model.key_qvel[0] + self.data[i].ctrl[:] = self.model.key_ctrl[0] + mujoco.mj_forward(self.model, self.data[i]) + + def update_data(self, state_rollout: np.ndarray) -> None: + """ + Update the data with the last state of the rollout. + + Args: + state_rollout: The state rollout. Shape=(num_envs, num_steps, state_dim). + """ + num_envs = state_rollout.shape[0] + # update the data with the last state of the rollout + for i in range(num_envs): + self.data[i].time = state_rollout[i, -1, 0] + self.data[i].qpos[:] = state_rollout[i, -1, 1 : self.model.nq + 1] + self.data[i].qvel[:] = state_rollout[i, -1, self.model.nq + 1 :] + mujoco.mj_forward(self.model, self.data[i]) + + def run(self, duration: float, num_envs: int) -> float: + """ + Run the speed benchmark. + + Args: + duration: Physics simulation duration in seconds. + num_envs: Number of environments to run in parallel. + + Returns: + Compute time in seconds. + """ + self.reset() + initial_state = get_state(self.model, self.data[:num_envs]) # (num_envs, state_size) + num_steps = int(duration / self.model.opt.timestep) + rollout_action = np.random.randn(num_envs, num_steps, self.model.nu) # (num_envs, num_steps, action_size) + + rollout_ = rollout.Rollout(nthread=num_envs) + + # Time the rollout + start_time = time.perf_counter() + state_rollout, sensor_rollout = rollout_.rollout( + self.model, self.data[:num_envs], initial_state, rollout_action + ) + compute_time = time.perf_counter() - start_time + + self.update_data(state_rollout) + return compute_time + + def benchmark_all(self) -> None: + """ + Run benchmarks for all combinations of num_envs and duration. + + Computes and displays the real-time factor (physics_time / compute_time). + """ + line_width = 120 + print(f"\n{'=' * line_width}") + print("Speed Benchmark Results") + print(f"Model: {self.config.model_path}") + print(f"{'=' * line_width}") + print( + f"\n{'duration (s)':<15} {'num_envs':<12} {'compute_time (s)':<18} {'per_thread_real_time_factor':<30} {'real_time_factor':<25}" + ) + print(f"{'-' * line_width}") + + results = [] + for duration in self.config.duration: + print(f"\n{'─' * line_width}") + print(f"Duration: {duration:.3f}s") + print(f"{'─' * line_width}") + for num_envs in self.config.num_envs: + compute_time = self.run(duration, num_envs) + per_thread_real_time_factor = duration / compute_time + real_time_factor = per_thread_real_time_factor * num_envs + + results.append((num_envs, duration, compute_time, per_thread_real_time_factor, real_time_factor)) + + print( + f"{duration:<15.3f} {num_envs:<12} {compute_time:<18.6f} {per_thread_real_time_factor:<30.2f}x {real_time_factor:<25.2f}x" + ) + + print(f"{'-' * line_width}\n") + + def visualize_trajectory(self, duration: float) -> None: + """ + Visualize the trajectory of the robot using mujoco viewer. + + Args: + duration: Physics simulation duration in seconds. + """ + # Reset the simulation + self.reset() + data = self.data[0] # Use first data instance for visualization + + num_steps = int(duration / self.model.opt.timestep) + action = np.random.randn(1, num_steps, self.model.nu) + + # Create and launch the viewer + with mujoco.viewer.launch_passive(self.model, data) as viewer: + # Step through the simulation + for step in range(num_steps): + # Apply control action + data.ctrl[:] = action[0, step, :] + + # Step the simulation + mujoco.mj_step(self.model, data) + + # Sync viewer with simulation state + viewer.sync() + + # Small delay to make visualization visible (optional) + time.sleep(self.model.opt.timestep) + + +if __name__ == "__main__": + config = tyro.cli(SpeedBenchmarkConfig) + benchmark = SpeedBenchmark(config) + benchmark.benchmark_all() + if config.visualize: + benchmark.visualize_trajectory(10.0) diff --git a/pyproject.toml b/pyproject.toml index 74da192a..7558e241 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -70,6 +70,7 @@ dev = [ "pytest-cov", "pytest-xdist", "ruff", + "tyro", ] [tool.coverage.run]