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charliexchen / Ant-IRL

Building a physical robot of the ant from open AI gym, and then training it to walk with actor-critic.
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error opening ant.asm #1

Open wegesdal opened 2 years ago

wegesdal commented 2 years ago

feet.par, joint.asm, thigh.par missing from assets folder. Is ant.asm based on a previous directory structure? joint.asm and thigh.par have path outside project folder.

charliexchen commented 2 years ago

Heya -- yeah, I rejigged the file structure a little since it was a little all over the place before and this seems to have broken the .asm files.

I've since moved away from Solid Edge for Fusion 360 on my new desktop, so I can't fix this this at the moment. However, as a temporary measure but you should be able to use Solid Edge to point the directories to the correct positions.

wegesdal commented 2 years ago

Sounds good. It looks like joint and thigh are missing from the parts folder unless those have been renamed. The path was to desktop instead of parts folder. I am going to try and put one together. My final project for AI was testing Soft-Actor-Critic in gym and I was interested to build my own Ant.

charliexchen commented 2 years ago

Ah, I see. I missed those files.

The joint.asm file isn't critical, since it's just an arrangement of the servo, and the bracket .par files.

The thigh.par file is quite important though. That connects the two servos on the same leg together. I'll get that uploaded tomorrow once I excavate through my backup drive of my old computer.

Best of luck with your finals project! Do you plan to do AC with the robot or in the mujoco gym environment for it?

charliexchen commented 2 years ago

Heya, I'm terribly sorry -- I had a look at my backups today, and I'm afraid that file actually lives on a different computer which I currently don't have access to.

If you really need the part ASAP, thigh.par should be quite easy to design. I've highlighted the part of the robot CAD image it refers to. image

This part is literally just a cylinder with a rectangular hole on each end. The two holes are perpendicular to eachother. On the bracket.par and outer bracket.par files, there is a rectangle which aligns with these holes as you glue the parts together.

wegesdal commented 2 years ago

I am using mujoco gym for my project I was going to build the robot to extend my learning so I don't have a deadline. I'll try to design a solution. If it works out I can share the file with you.