Open Duck Reference Motion Generator

Open Duck project's reference motion generator for imitation learning, based on Placo.

The reference motions are used in two RL works, one using mujoco playground here and another using Isaac Gym here

This repo uses git-lfs. Install it with sudo apt install git-lfs before cloning the repo

Installation

Install uv

curl -LsSf https://astral.sh/uv/install.sh | sh

Usage

Generate motions

uv run scripts/auto_waddle.py (-j?) --duck ["go_bdx", "open_duck_mini", "open_duck_mini_v2"] (--num <> / --sweep) --output_dir <>

If you have an error like this : Failed to determine STL storage representation for <...> Hint: the mesh directory may be wrong, just run git lfs pull

Args :

• -j? number of jobs. If j is not specified, will run sequentially. If j is specified without a number, your computer will crash :) (runs with all available cores). Use j4 for example
• --duck selects the duck type
• --sweep generates all combinations of motion within the ranges specified in Open_Duck_reference_motion_generator/open_duck_reference_motion_generator/robots/<duck>/auto_gait.json
• --num generates random motions
• --output_dir self explanatory

For example, to generate all the reference motion for Open Duck Mini, run :

uv run scripts/auto_waddle.py -j8 --duck open_duck_mini_v2 --sweep 

This will write in a directory called recordings/

Fit polynomials

This will generate polynomial_coefficients.pkl

uv run scripts/fit_poly.py --ref_motion recordings/

To plot :

uv run scripts/plot_poly_fit.py --coefficients polynomial_coefficients.pkl

Replay

uv run scripts/replay_motion.py -f recordings/<file>.json

Playground

uv run open_duck_reference_motion_generator/gait_playground.py --duck ["go_bdx", "open_duck_mini", "open_duck_mini_v2"]

TODO

• The robots descriptions should be in a separate repository and imported as a submodule. This would help having duplicates of the same files, or with different versions etc.
• Validate that we can train policies with these motions (might have broken something during the port...)
• Fix small bugs in gait_playground (refreshing, changing robots ...)
• Nicer visualization ? Directly visualize using meshcat maybe.
• A document to specify the reference motion format, if someone wants to convert some mocap data to use for the imitation reward ?
• The repo duck themed, but it could be a generic motion generator based on placo for biped robots (will add sigmaban at some point)
  • Sub TODO : explain how to add a new robot