https://github.com/apirrone/Open_Duck_Mini
Making a mini version of the BDX droid
https://github.com/apirrone/Open_Duck_Mini
Last synced: 6 months ago
JSON representation
Making a mini version of the BDX droid
- Host: GitHub
- URL: https://github.com/apirrone/Open_Duck_Mini
- Owner: apirrone
- License: apache-2.0
- Created: 2024-05-16T14:03:25.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-09-17T13:47:28.000Z (9 months ago)
- Last Synced: 2024-09-17T15:43:41.284Z (9 months ago)
- Language: Python
- Homepage:
- Size: 4.13 MB
- Stars: 138
- Watchers: 8
- Forks: 13
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Funding: FUNDING.yml
Awesome Lists containing this project
- awesome-weekly-robotics - Open Duck Mini v2 - A miniaturized version of Disney's BDX droid. Licence: Apache 2.0. (Open Source Robots / Bipedals)
README
# Open Duck Mini
This project is still a work in progress !
Note : we'll start working on a v2 of this robot soon (December 2024). The v2 should be cheaper (aiming for ~$500), better designed, easier to build and more capable ! I would advise waiting for the v2 if you want to build this robot :)
I'm making a miniature version of the BDX Droid by Disney. It is about 35 centimeters tall with its legs extended.
This is a policy trained in Isaac Gym with [AWD](https://github.com/rimim/AWD).
https://github.com/user-attachments/assets/bbb0f181-659d-4227-af8a-83866aa6278a
Sim2Sim from Isaac to Mujoco
https://github.com/user-attachments/assets/94ffe9a0-739e-4083-810a-541e25db2fb9
This is a policy trained in Isaac Gym for standing up while being robust to perturbations.
https://github.com/user-attachments/assets/4e03fe2b-371c-4bd5-a462-8fa0ee84efa2
Sim2Real walking is starting to work !
https://github.com/user-attachments/assets/15f329b8-af58-42c1-bdef-b7eebd7a5fba
# 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
Idler cap https://cad.onshape.com/documents/be101dee8170780f05a04bfa/w/c49eb6dbb859e081d7ac252c/e/935d77385a5196902c262118
# RL stuff
We now use [AWD](https://github.com/rimim/AWD)
## Actuator identification
We used Rhoban's [BAM](https://github.com/Rhoban/bam)
# 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
- https://www.haonanyu.blog/post/sim2real/
## 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 !