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https://github.com/apirrone/Open_Duck_Mini

Making a mini version of the BDX droid
https://github.com/apirrone/Open_Duck_Mini

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Making a mini version of the BDX droid

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# Open Duck Mini



This project is still a work in progress !



![Capture d’écran du 2024-07-22 18-15-29](https://github.com/user-attachments/assets/41876cb7-b4f2-4c68-8ef9-f92f2eb45044)



I'm making a miniature version of the BDX Droid by Disney. It will be about 35 centimeters tall with its legs extended.



https://github.com/user-attachments/assets/f2b3efac-9300-4959-95ae-06420a2d1517



This is a policy trained in Isaac Gym with [Amp_for_hardware](https://github.com/apirrone/AMP_for_hardware/tree/bdx) running in Mujoco. 



https://github.com/user-attachments/assets/4e03fe2b-371c-4bd5-a462-8fa0ee84efa2



This is a policy trained in Isaac Gym for standing up while being robust to perturbations.



https://github.com/user-attachments/assets/6a742583-223a-43f7-8489-4a4fffeaaef6



This is an attempt at running the walking policy on the real robot. Still some work to do :)



# This repo



This is kind of a hub where I centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) I'll try to clean things up at some point.



# CAD



https://cad.onshape.com/documents/a18ff8cc622a533762a3a6f5/w/27ef6089ad5fe9ba396b6036/e/9ce9b71d7a21eb04415b067f



See [this document](docs/prepare_robot.md) for getting from a onshape design to a simulated robot in MuJoCo



# RL stuff



The RL method used to learn to walk is [Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions](https://sites.google.com/berkeley.edu/amp-in-real/home). 



My fork of the original repo is [there](https://github.com/apirrone/AMP_for_hardware/tree/bdx)



This is the current policy running in Isaac Gym. It can be controlled to walk forward and to turn left or right.



https://github.com/user-attachments/assets/c37d9bfc-67e1-4b21-a9dc-a1310bdf3016



# BOM



Note : I switched to using `xc330-M288-T` servomotors instead of `xl330-M288-T` for the legs. They are more expensive, but way more powerful. Maybe we'll try to go back to xl330 servos once everything is working properly with the xc330.



https://docs.google.com/spreadsheets/d/18hrYgjaE9uL2pnrnq5pNUzFLZcI4Rg0AvSc9sqwE680/edit?usp=sharing



# Assembly Guide 



TODO



The current version (alpha) is not very easy to build, has some mechanical problems (too much play at some joints). After everything works on this version of the robot, I will redesign it from the ground up, trying to make it more accessible and better mechanically designed !



# Embedded runtime 



This repo contains the code to run the policies on the onboard computer (Raspberry pi zero 2w) https://github.com/apirrone/Open_Duck_Mini_Runtime



# Resources



## Interesting papers and resources

- https://www.nature.com/articles/s41598-023-38259-7.pdf

- https://arxiv.org/pdf/2304.13653

- https://arxiv.org/pdf/2401.16889

- https://arxiv.org/pdf/1801.01290

- First comment of this video explains the reward https://www.youtube.com/watch?v=L_4BPjLBF4E



## Directly BDX related (from disney)

- https://www.nvidia.com/en-us/on-demand/session/gtc24-s63374/

- https://la.disneyresearch.com/publication/design-and-control-of-a-bipedal-robotic-character/



## Bootstraping by behavior cloning

- https://stable-baselines.readthedocs.io/en/master/guide/pretrain.html 



# References

- https://cults3d.com/en/3d-model/gadget/robot-disney-star-wars

- https://www.disneytouristblog.com/wp-content/uploads/2023/10/bd1-droid-testing-disney-imagineering-2.jpg

- nice close up video https://www.youtube.com/watch?v=QuWaaNN-1hs



## Imitation learning

- https://github.com/rgalljamov/DRLoco

- https://xbpeng.github.io/projects/DeepMimic/index.html

-

## MPC

- https://github.com/google-deepmind/mujoco_mpc



Thanks a lot to HuggingFace for sponsoring this project !