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utils/cfg/config.yaml

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+
+defaults:
+  - _self_
+  - dataset: com_momentum
+  - model: emlp
+  - robot: solo
+  - override hydra/launcher: joblib
+
+
+# TODO: Make distinctions between. Trainer Args, Model Psecific Args, Program Args
+#robot: 'solo12'
+seed: -1
+exp_name: 'tests'
+
+device: 0
+num_workers: 0  # Dataloader workers
+
+debug: False
+debug_loops: False
+use_volatile: False
+
+# Hydra configuration _________
+
+hydra:
+  run:
+    dir: ./morpho_symm/experiments/${hydra.job.name}/${hydra.job.override_dirname}
+
+  job:
+    # TODO: Reorganize output dir
+    chdir: True  # Create a new directory for each run
+    name: ${dataset.job_name}
+    num: ${seed}
+    env_set:
+      XLA_PYTHON_CLIENT_PREALLOCATE: 'false'
+      HYDRA_FULL_ERROR: '1'
+    config:
+      override_dirname:
+        kv_sep: "="
+        item_sep: " "
+        exclude_keys:
+          - batch_size
+          - model
+          - model.model_type
+          - model.num_channels
+          - model.num_layers
+          - model.fine_tune_num_layers
+          - model.fine_tune_num_layers
+          - device
+          - exp_name
+          - max_epochs
+          - dataset.train_ratio
+          - dataset.val_ratio
+          - dataset.test_ratio
+          - run_type
+          - kfolds
+          - dataset
+          - debug
+          - debug_loops
+          - seed
+          - use_volatile
+
+  sweep:
+    dir: ./morpho_symm/experiments/${hydra.job.name}/
+    subdir: ${hydra.job.override_dirname}
+
+  job_logging:
+    version: 1
+    colorlog: True
+    formatters:
+      simple:
+        format: '[%(levelname)s][%(name)s] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.handlers.RotatingFileHandler
+        formatter: simple
+        filename: log.log
+        maxBytes: 2048
+        backupCount: 1
+    root:
+      handlers: [console]
+
+    disable_existing_loggers: false

utils/cfg/config_visualization.yaml

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+
+defaults:
+  - _self_
+  - robot: 'solo'
+  - override hydra/hydra_logging: disabled
+
+# TODO: Make distinctions between. Trainer Args, Model Psecific Args, Program Args
+debug: False
+debug_joints: False
+make_gif: False
+make_imgs: True
+gui: False
+
+recording_name: 'concrete_galloping'
+hydra:
+  output_subdir: null  # disable hydra output directory
+  verbose: ${debug}
+  run:
+      dir: .  # disable hydra run directory
+  job:
+    chdir: False
+    env_set:
+      HYDRA_FULL_ERROR: '1'

utils/cfg/dataset/com_momentum.yaml

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+#
+job_name: ${exp_name}_${robot.name}/model=${model.model_type}_train_ratio=${dataset.train_ratio}_ly=${model.num_layers}_hc=${model.num_channels}
+
+name: 'com_momentum'
+
+data_folder: "dataset/com_momentum"
+
+augment: False
+angular_momentum: True
+
+standarize: True
+
+batch_size: 256
+max_epochs: 300
+log_every_n_epochs: 0.5
+
+#samples: 100000     # Dataset size.
+samples: 100000     # Dataset size.
+train_ratio: 0.7
+test_ratio: 0.15
+val_ratio: 0.15

utils/cfg/dataset/contact.yaml

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+
+job_name: ${exp_name}_${robot.name}/model=${model.model_type}_train_ratio=${dataset.train_ratio}
+name: "contact"
+
+data_folder: "training_splitted"
+
+contact_type: "contact"
+
+log_every_n_epochs: 0.15   # 4 times per epoch
+
+augment: false
+balanced_classes: false # Use class frequencies to weight cross entropy loss
+max_epochs: 60
+batch_size: 30
+window_size: 150
+
+# Dataset is already partitioned in training-val data and test data separatedly
+# this is why we use 15 % of the train-val data for validation the rest for training
+# and why the ratio for testing is set to 1, to use all of the test data
+train_ratio: 0.85
+test_ratio: 1
+val_ratio: 0.15
+
+shuffle: True
+
+

utils/cfg/model/base_model.yaml

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+
+model_type: ???
+bias: true
+lr: 1e-3
+init_mode: 'fan_in'
+fine_tune_lr_scale: 0.1
+fine_tune_num_layers: 2

utils/cfg/model/contact_cnn.yaml

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+
+defaults:
+  - base_model
+
+model_type: 'CNN'
+lr: 0.0001

utils/cfg/model/contact_ecnn.yaml

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+
+defaults:
+  - contact_cnn
+
+model_type: 'ECNN'
+lr: 1e-5
+dropout: 0.5
+unconstraint_finetune: false
+inv_dims_scale: 1.0

utils/cfg/model/emlp.yaml

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+
+defaults:
+  - mlp
+
+model_type: 'EMLP'
+lr: 2.4e-3
+num_layers: 4
+batch_norm: False
+activation: 'elu'
+num_channels: 128

utils/cfg/model/mlp.yaml

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+
+defaults:
+  - base_model
+
+model_type: 'MLP'
+lr: 2.4e-3
+num_layers: 4
+batch_norm: False
+activation: 'elu'
+num_channels: 128

utils/cfg/robot/a1.yaml

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+defaults:
+  - base_robot
+  - _self_
+
+name: a1
+
+hip_height: 0.35
+# ______|___Base Pos___|___Base Ori__|______________________________QJ________________________________|
+init_q: [0.0, 0.0, 0.35, 0, 0, 0 , 1 , 0.0, 0.4, -1.2, 0.0, 0.4, -1.2, 0.0, 0.4, -1.2, 0.0, 0.4, -1.2,]
+
+group_label: C2
+# QJ: Joint Space symmetries____________________________________
+permutation_Q_js: [[3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8]]
+# Reflections are determined by joint frame predefined orientation.
+reflection_Q_js: [[-1, 1, 1, -1, 1, 1, -1, 1, 1, -1, 1, 1]]
+
+# 4D-Representation permuting the set of elements, associated with the legs kinematic chains
+permutation_kin_chain: [[1, 0, 3, 2]]
+reflection_kin_chain:  [[1, 1, 1, 1]]
+
+# Transformation for Euler angles in 'xyz' convention
+permutation_euler_xyz: [[0, 1, 2]]
+reflection_euler_xyz: [[-1, 1, -1]]

utils/cfg/robot/aliengo.yaml

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+defaults:
+  - base_robot
+
+name: aliengo
+
+hip_height: 0.4
+
+group_label: C2
+
+# QJ: Joint Space symmetries____________________________________
+#  Each leg is parameterized by a:
+#    Hip joint (1,): 1DoF revolute joint with position constraints
+#    Thigh joint (2,): 1DoF revolute joint with NO position constraints, thus modeled as a point in the unit circle
+#    Calf joint (1,): 1DoF revolute joint with position constraints
+# The action of the reflection is defined by the permutation of the configurations of the legs, such that:
+#    FL <---g---> FR and  HL <---g---> HR.
+#        ____FL_______|_____FR______|_________HL______|____HR____________|
+# q    = [ 0, (1,2), 3,  4, (5,6), 7,  8,  (9,10),  11, 12, (13, 14), 15]
+# g·q  = [ 4, (5,6), 7, 0, (1,2), 3, 12, (13,14), 15, 8, (9,10), 11]
+# QJ: Joint Space symmetries____________________________________
+permutation_Q_js: [[4, 5, 6, 7,     0, 1, 2, 3,      12, 13, 14, 15,  8, 9, 10, 11]]
+# Reflections are determined by joint frame predefined orientation.
+reflection_Q_js: [[-1, 1, 1, 1,     -1, 1,1, 1,      -1, 1, 1, 1,      -1, 1, 1, 1,]]
+
+# The tangent space of a unit circle is a 1D line:
+#        ____FL______|_______FR_____|__________HL_________|_______HR__________|
+# v    = [   0, 1,  2,   3,  4,    5,     6,     7,      8,     9,    10,    11]
+# g·v  = [   3, 4,  5,   0,  1,    2,     9,    10,    11,     6,     7,     8]
+permutation_TqQ_js: [[3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8]]
+# Reflections are determined by joint frame predefined orientation.
+reflection_TqQ_js: [[-1, 1, 1, -1, 1, 1, -1, 1, 1, -1, 1, 1]]
+
+# 4D-Representation permuting the set of elements, associated with the legs kinematic chains
+permutation_kin_chain: [[1, 0, 3, 2],]
+reflection_kin_chain:  [[1, 1, 1, 1],]
+
+# Transformation for Euler angles in 'xyz' convention
+permutation_euler_xyz: [[0, 1, 2]]
+reflection_euler_xyz: [[-1, 1, -1]]

utils/cfg/robot/anymal_b-c2.yaml

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+defaults:
+  - anymal_b
+  - _self_
+
+name: anymal_b
+
+group_label: C2

utils/cfg/robot/anymal_b.yaml

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+defaults:
+  - anymal_c
+
+name: anymal_b
+
+draw_floor: True
+endeff_names : ['RH_ADAPTER_TO_FOOT', 'LH_ADAPTER_TO_FOOT', 'RF_ADAPTER_TO_FOOT', 'LF_ADAPTER_TO_FOOT']
+
+group_label: K4

utils/cfg/robot/anymal_c-c2.yaml

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+defaults:
+  - anymal_c
+  - _self_
+
+group_label: C2

utils/cfg/robot/anymal_c.yaml

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+defaults:
+  - base_robot
+
+name: anymal_c
+angle_sweep: 0.45
+hip_height: 0.6
+draw_floor: False
+seed: 10
+
+endeff_names : ['RH_shank_fixed_RH_FOOT', 'LH_shank_fixed_LH_FOOT', 'RF_shank_fixed_RF_FOOT', 'LF_shank_fixed_LF_FOOT']
+#                                       ____LF_______|________LH____|___RF______|____RH____|
+# ________|__Base Pos____|_Base Ori____|______________________________QJ__________________________________|
+init_q:   [0.0, 0.0, 0.24, 0, 0, 0, 1,  0.0, 0.5, -1, 0.0,   -0.5, 1, 0.0,   0.5, -1, 0.0,  -0.5, 1]
+
+group_label: K4
+
+
+# QJ: Joint Space symmetries____________________________________
+#        ____LF___|___LH____|___RF______|____RH____|
+# q    = [ 0, 1, 2,  3, 4, 5,  6,  7,  8, 9, 10, 11]
+# Configure qj (joint-space) group actions
+#                  Sagittal Symmetry                          Transversal symmetry
+permutation_Q_js: [[6, 7, 8, 9, 10, 11, 0, 1, 2, 3, 4, 5],   [3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8]]
+# Reflections are determined by joint frame predefined orientation.
+reflection_Q_js: [[-1, 1, 1, -1, 1, 1, -1, 1, 1, -1, 1, 1], [1, -1, -1, 1, -1, -1, 1, -1, -1, 1, -1, -1]]

utils/cfg/robot/atlas.yaml

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+defaults:
+  - base_robot
+
+name: atlas_v4
+
+hip_height: 0.85
+# ______|___Base Pos___|___Base Ori__|______________________________QJ____________________________|
+init_q: null
+endeff_names: ['l_leg_akx', 'r_leg_akx']
+
+group_label: C2
+
+# QJ: Joint Space symmetries____________________________________
+permutation_Q_js: [[0, 1, 2,  # ['back_bkz', 'back_bky', 'back_bkx',
+           11, 12, 13, 14, 15, 16, 17,  # 'r_arm_shz', 'r_arm_shx', 'r_arm_ely', 'r_arm_elx', 'r_arm_wry', 'r_arm_wrx', 'r_arm_wry2',
+           10,  # 'neck_ry',
+           3, 4, 5, 6, 7, 8, 9,         # 'l_arm_shz', 'l_arm_shx', 'l_arm_ely', 'l_arm_elx', 'l_arm_wry', 'l_arm_wrx', 'l_arm_wry2',
+           24, 25, 26, 27, 28, 29,      # 'r_leg_hpz', 'r_leg_hpx', 'r_leg_hpy', 'r_leg_kny', 'r_leg_aky', 'r_leg_akx',
+           18, 19, 20, 21, 22, 23]]     # 'l_leg_hpz', 'l_leg_hpx', 'l_leg_hpy', 'l_leg_kny', 'l_leg_aky', 'l_leg_akx',
+# Reflections are determined by joint frame predefined orientation.
+reflection_Q_js: [[-1, 1, -1,  # ['back_bkz', 'back_bky', 'back_bkx',
+          -1, -1, 1, -1, 1, -1, -1,
+          # 'r_arm_shz', 'r_arm_shx', 'r_arm_ely', 'r_arm_elx', 'r_arm_wry', 'r_arm_wrx', 'r_arm_wry2',
+          1,  # 'neck_ry',
+          -1, -1, 1, -1, 1, -1, -1,
+          # 'l_arm_shz', 'l_arm_shx', 'l_arm_ely', 'l_arm_elx', 'l_arm_wry', 'l_arm_wrx', 'l_arm_wry2',
+          -1, -1, 1, 1, 1, -1,  # 'r_leg_hpz', 'r_leg_hpx', 'r_leg_hpy', 'r_leg_kny', 'r_leg_aky', 'r_leg_akx',
+          -1, -1, 1, 1, 1, -1]]  # 'l_leg_hpz', 'l_leg_hpx', 'l_leg_hpy', 'l_leg_kny', 'l_leg_aky', 'l_leg_akx',]]

utils/cfg/robot/b1.yaml

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+defaults:
+  - a1
+
+name: b1
+

utils/cfg/robot/base_robot.yaml

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+# Robot (description) name for loading robot_descriptions.py
+name: ???
+seed: -1
+
+# Symmetry related parameters
+group_label: null
+rep_fields: 'real'
+permutation_Q_js: null      # Symmetry permutation of joint-space position coordinates Q_js
+permutation_TqQ_js: ${.permutation_Q_js}    # Symmetry permutations of joint-space tangent space (velocity coordinates) TqQ_js
+reflection_Q_js: null      # Symmetry reflections of joint-space position coordinates Q_js
+reflection_TqQ_js: ${.reflection_Q_js}    # Symmetry reflections of joint-space tangent space (velocity coordinates) TqQ_js
+
+fix_base: False
+
+# Visualization aux variables
+tint_bodies: True
+draw_floor: True
+hip_height: 1.0
+endeff_names: null
+init_q: null
+q_zero: null                # Zero vector of the generalized positions. Can be different from the Zero defined in URDF.
+angle_sweep: 0.43
+
+# Transformation for Euler angles in 'xyz' convention
+permutation_euler_xyz: [[0, 1, 2], [0, 1, 2], [0, 1, 2]]
+reflection_euler_xyz: [[-1, 1, -1], [1, -1, -1], [-1, -1, 1]]