merge conflicts

sim/deploy/run.py

@@ -15,11 +15,11 @@
 import numpy as np
 from humanoid.envs import *
 from humanoid.utils import task_registry
+from isaacgym import gymapi
 from isaacgym.torch_utils import *
 from policy import SimPolicy
 from tqdm import tqdm
 
-from isaacgym import gymapi
 from sim.deploy.config import RobotConfig
 from sim.env import stompy_mjcf_path
 from sim.new_test.joints import Stompy as StompyFixed

sim/humanoid_gym/envs/__init__.py

@@ -13,6 +13,8 @@
 # fmt: on
 from .getup_config import GetupCfg, GetupCfgPPO
 from .getup_env import GetupFreeEnv
+from .hexmove_config import HexmoveCfg, HexmoveCfgPPO
+from .hexmove_env import HexmoveFreeEnv
 from .legs_config import LegsCfg, LegsCfgPPO
 from .legs_env import LegsFreeEnv
 from .only_legs_config import OnlyLegsCfg, OnlyLegsCfgPPO

sim/humanoid_gym/envs/getup_env.py

@@ -5,9 +5,9 @@
 from humanoid.envs import LeggedRobot
 from humanoid.envs.base.legged_robot_config import LeggedRobotCfg
 from humanoid.utils.terrain import HumanoidTerrain
+from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from isaacgym import gymtorch
 from sim.stompy.joints import Stompy
 
 default_feet_height = 0.0

sim/humanoid_gym/envs/legs_env.py

@@ -5,9 +5,9 @@
 from humanoid.envs import LeggedRobot
 from humanoid.envs.base.legged_robot_config import LeggedRobotCfg
 from humanoid.utils.terrain import HumanoidTerrain
+from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from isaacgym import gymtorch
 from sim.stompy.joints import StompyFixed
 
 

sim/humanoid_gym/envs/only_legs_env.py

@@ -5,10 +5,10 @@
 from humanoid.envs import LeggedRobot
 from humanoid.envs.base.legged_robot_config import LeggedRobotCfg
 from humanoid.utils.terrain import HumanoidTerrain
+from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from isaacgym import gymtorch
-from sim.new_test.joints import Stompy
+from sim.stompy_legs.joints import Stompy
 
 
 class OnlyLegsFreeEnv(LeggedRobot):

sim/humanoid_gym/envs/stompy_env.py

@@ -5,9 +5,9 @@
 from humanoid.envs import LeggedRobot
 from humanoid.envs.base.legged_robot_config import LeggedRobotCfg
 from humanoid.utils.terrain import HumanoidTerrain
+from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from isaacgym import gymtorch
 from sim.stompy.joints import Stompy
 
 

sim/humanoid_gym/play.py

@@ -7,9 +7,9 @@
 
 import cv2
 import numpy as np
+from isaacgym import gymapi
 from tqdm import tqdm
 
-from isaacgym import gymapi
 from sim.logging import configure_logging
 
 logger = logging.getLogger(__name__)

sim/scripts/simulate_urdf.py

@@ -12,6 +12,7 @@
 from typing import Any, Dict, Literal, NewType
 
 from isaacgym import gymapi, gymtorch, gymutil
+
 from sim.env import stompy_urdf_path
 from sim.logging import configure_logging
 from sim.stompy_legs.joints import Stompy