Update quadwheel/biped scripts by ZihanWang0422 · Pull Request #1 · btx0424/metamorphosis

ZihanWang0422 · 2026-01-31T15:26:09Z

No description provided.

Copilot

Pull request overview

Adds new history snapshots for procedurally generated biped/quadruped/quad-wheel builders, corresponding IsaacLab spawner configs, and various demo scene scripts.

Changes:

Adds .history snapshots of builder implementations (BipedBuilder, QuadrupedBuilder) and builder package exports.
Adds .history snapshots of IsaacLab SpawnerCfg utilities for spawning procedural assets (quadruped/biped/quad-wheel).
Adds .history snapshots of demo scripts (quadruped/biped/quadwheel scenes) and README variants.

Reviewed changes

Copilot reviewed 104 out of 273 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
.history/src/metamorphosis/builder/biped_20260121185251.py	Adds a history snapshot of a simple `BipedBuilder` MuJoCo spec generator.
.history/src/metamorphosis/builder/biped_20260121185105.py	Duplicate history snapshot of the same `BipedBuilder` implementation.
.history/src/metamorphosis/builder/biped_20260121173201.py	Duplicate history snapshot of the same `BipedBuilder` implementation.
.history/src/metamorphosis/builder/biped_20260121170854.py	Adds a history snapshot intended for quadruped generation but with naming/type issues.
.history/src/metamorphosis/builder/biped_20260121170841.py	Adds a history snapshot of `QuadrupedBuilder` and `QuadrupedParam`.
.history/src/metamorphosis/builder/__init___20260121185311.py	Adds a history snapshot exporting `QuadrupedBuilder` and `BipedBuilder`.
.history/src/metamorphosis/builder/__init___20260121185305.py	Adds a history snapshot exporting only `QuadrupedBuilder` (despite importing `BipedBuilder`).
.history/src/metamorphosis/builder/__init___20260121160713.py	Adds a history snapshot exporting `QuadrupedBuilder`.
.history/src/metamorphosis/asset_cfg_20260130194013.py	Adds a history snapshot of spawner configs for quadruped/biped/quad-wheel assets.
.history/src/metamorphosis/asset_cfg_20260130194007.py	Adds a history snapshot of spawner configs (slightly different biped config wiring).
.history/src/metamorphosis/asset_cfg_20260121185731.py	Adds a history snapshot of spawner configs for quadruped + biped (torso-based biped).
.history/src/metamorphosis/asset_cfg_20260121185720.py	Duplicate history snapshot of quadruped + biped spawner configs.
.history/src/metamorphosis/asset_cfg_20260121185535.py	Duplicate history snapshot of quadruped + biped spawner configs.
.history/src/metamorphosis/asset_cfg_20260121185313.py	Adds a history snapshot of quadruped spawner config with biped import present.
.history/src/metamorphosis/asset_cfg_20260121184428.py	Adds a history snapshot of quadruped spawner config with biped import present.
.history/src/metamorphosis/asset_cfg_20260121160713.py	Adds a history snapshot of quadruped-only spawner config.
.history/scripts/quadwheel_scene_20260130184225.py	Adds a history snapshot demo scene script for the quad-wheel robot.
.history/scripts/quadwheel_scene_20260130184223.py	Duplicate history snapshot of quad-wheel demo scene script.
.history/scripts/quadwheel_scene_20260130183742.py	Duplicate history snapshot of quad-wheel demo scene script.
.history/scripts/quadruped_scene_20260130183815.py	Adds a history snapshot demo scene script for the quadruped robot.
.history/scripts/biped_scene_20260131020605.py	Adds a history snapshot demo scene script for the biped robot (G1-style params).
.history/scripts/biped_scene_20260131020237.py	Adds a history snapshot biped demo variant (missing hip roll actuator).
.history/scripts/biped_scene_20260131020228.py	Adds a history snapshot biped demo variant (includes hip roll joint in init).
.history/scripts/biped_scene_20260131005841.py	Adds a history snapshot biped demo variant (prints hip capsule params).
.history/scripts/biped_scene_20260130204344.py	Adds a history snapshot biped demo variant (hip capsule range).
.history/scripts/biped_scene_20260130203644.py	Adds a history snapshot biped demo variant (pelvis height range typo-like value).
.history/scripts/biped_scene_20260130202439.py	Adds a history snapshot biped demo variant (pelvis height range).
.history/scripts/biped_scene_20260130202408.py	Adds a history snapshot biped demo variant.
.history/scripts/biped_scene_20260130202313.py	Adds a history snapshot biped demo variant (alternate pelvis/hip ranges).
.history/scripts/biped_scene_20260130202148.py	Adds a history snapshot biped demo variant (tall pelvis).
.history/scripts/biped_scene_20260130201516.py	Adds a history snapshot biped demo variant.
.history/scripts/biped_scene_20260130194706.py	Adds a history snapshot biped demo variant (hip capsule range).
.history/scripts/biped_scene_20260130194657.py	Adds a history snapshot biped demo variant (pelvis sphere + hip ellipsoid).
.history/scripts/biped_scene_20260130193838.py	Adds a history snapshot biped demo variant (pelvis sphere + ellipsoid).
.history/scripts/biped_scene_20260130193830.py	Adds a history snapshot biped demo variant (prints pelvis mass fields).
.history/scripts/biped_scene_20260130191013.py	Adds a history snapshot biped demo variant (smaller pelvis/leg ranges).
.history/scripts/biped_scene_20260130191004.py	Adds a history snapshot biped demo variant (prints params for all envs).
.history/scripts/biped_scene_20260130190956.py	Adds a history snapshot biped demo variant (larger pelvis/leg ranges).
.history/scripts/biped_scene_20260130190943.py	Adds a history snapshot biped demo variant (single “legs” actuator group).
.history/scripts/biped_scene_20260130183643.py	Adds a history snapshot biped demo variant (standing pose).
.history/scripts/biped_scene_20260130152701.py	Adds a history snapshot biped demo variant (older).
.history/scripts/0_single_20260130153040.py	Adds a history snapshot single-scene spawner example.
.history/scripts/0_single_20260130152701.py	Duplicate history snapshot single-scene spawner example.
.history/README_20260131225918.md	Adds a history snapshot README with usage instructions and citation.
.history/README_20260131225857.md	Duplicate history snapshot README with usage instructions and citation.
.history/README_20260130183856.md	Adds a history snapshot README (contains “Metamorphology” section title).
.history/README_20260130183848.md	Adds a history snapshot README variant with extra spacing.
.history/README_20260130175547.md	Adds a history snapshot README variant (missing `--num_envs` in example).
.history/README_20260130175534.md	Adds a history snapshot README variant (missing biped example command).
.history/README_20260130153232.md	Adds a history snapshot README variant (empty code block sections).
.history/README_20260130153042.md	Adds a history snapshot README variant (Morphology Randomization section).
.history/README_20260130152909.md	Adds a history snapshot README variant (typos in headings/commands).
.history/README_20260130152721.md	Adds a history snapshot README variant (shorter form).
.history/README_20260121160713.md	Adds a history snapshot README variant (older TODO list).

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2026-01-31T15:30:19Z

.history/src/metamorphosis/builder/biped_20260121185251.py

@@ -0,0 +1,127 @@
+import mujoco


These changes add many files under .history/, which are typically editor/local-history artifacts and should not be committed. Recommend removing the .history/ directory from version control and adding it to .gitignore to avoid repo bloat and multiple inconsistent snapshots being treated as source.

Copilot · 2026-01-31T15:30:20Z

.history/src/metamorphosis/builder/biped_20260121170854.py

+class BipedParam(NamedTuple):
+    base_length: float
+    base_width: float
+    base_height: float
+    thigh_length: float
+    calf_length: float
+    thigh_radius: float
+
+
+class QuadrupedBuilder(BuilderBase):


This file defines BipedParam but the builder uses QuadrupedParam in type annotations and instantiation, which will raise NameError at runtime (and breaks type checking). Align the naming consistently (either define QuadrupedParam and use it everywhere, or update the builder signatures/instantiation to use BipedParam).

Copilot · 2026-01-31T15:30:20Z

.history/src/metamorphosis/builder/biped_20260121170854.py

+        base_height_range: tuple[float, float] = (0.15, 0.25),
+        leg_length_range: tuple[float, float] = (0.4, 0.8),
+        calf_length_ratio: tuple[float, float] = (0.9, 1.0),
+        valid_filter: Callable[[QuadrupedParam], bool] = lambda _: True,


This file defines BipedParam but the builder uses QuadrupedParam in type annotations and instantiation, which will raise NameError at runtime (and breaks type checking). Align the naming consistently (either define QuadrupedParam and use it everywhere, or update the builder signatures/instantiation to use BipedParam).

Copilot · 2026-01-31T15:30:20Z

.history/src/metamorphosis/builder/biped_20260121170854.py

+            thigh_length = base_length * random.uniform(*self.leg_length_range)
+            calf_length = thigh_length * random.uniform(*self.calf_length_ratio)
+            thigh_radius = random.uniform(0.03, 0.05)
+            param = QuadrupedParam(


This file defines BipedParam but the builder uses QuadrupedParam in type annotations and instantiation, which will raise NameError at runtime (and breaks type checking). Align the naming consistently (either define QuadrupedParam and use it everywhere, or update the builder signatures/instantiation to use BipedParam).

Copilot · 2026-01-31T15:30:20Z

.history/src/metamorphosis/builder/biped_20260121170854.py

+            raise ValueError("Failed to sample valid parameters")
+        return param
+
+    def generate_mjspec(self, param: QuadrupedParam) -> mujoco.MjSpec:


This file defines BipedParam but the builder uses QuadrupedParam in type annotations and instantiation, which will raise NameError at runtime (and breaks type checking). Align the naming consistently (either define QuadrupedParam and use it everywhere, or update the builder signatures/instantiation to use BipedParam).

Copilot · 2026-01-31T15:30:21Z

.history/src/metamorphosis/asset_cfg_20260130194013.py

+    builder = BipedBuilder(
+        pelvis_radius_range=cfg.pelvis_radius_range,
+        waist_height_range=cfg.waist_height_range,
+        hip_spacing_range=cfg.hip_spacing_range,
+        hip_ellipsoid_range=cfg.hip_ellipsoid_range,
+        leg_length_range=cfg.leg_length_range,
+        shin_ratio_range=cfg.shin_ratio_range,
+    )


Within this PR’s .history snapshots, BipedBuilder is also defined with a different constructor signature (e.g., torso-based ranges). This call will raise TypeError: __init__() got an unexpected keyword argument ... unless the real (non-history) BipedBuilder matches these arguments. Align the spawn_biped wiring to the actual BipedBuilder.__init__ parameters you intend to ship.

Copilot · 2026-01-31T15:30:21Z

.history/src/metamorphosis/asset_cfg_20260130194013.py

+def spawn(
+    prim_path: str,
+    cfg: "ProceduralQuadrupedCfg",
+    translation: tuple[float, float, float] | None = None,
+    orientation: tuple[float, float, float, float] | None = None,
+):


translation and orientation are accepted but not used in the function body, so callers cannot control spawn transforms through the standard IsaacLab spawner interface. Forward these through to the underlying spawn call (e.g., builder.spawn(...)) or apply them to the spawned prim; apply the same fix to spawn_biped and spawn_quadwheel in this file.

Copilot · 2026-01-31T15:30:21Z

.history/README_20260131225918.md

+- [x] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation


Correct the heading typo to improve readability.

Suggested change

## Instaillation

## Installation

Copilot · 2026-01-31T15:30:21Z

.history/README_20260131225918.md

+python scripts/quadruped_scene.py --num_envs 32 
+
+#QuadrupedBuilder16Dof(quadwheel)
+python scripts/quawheel_scene.py


The script name appears misspelled; this will cause copy-paste usage failures.

Suggested change

python scripts/quawheel_scene.py

python scripts/quadwheel_scene.py

Copilot · 2026-01-31T15:30:22Z

.history/scripts/quadwheel_scene_20260130184225.py

+    # Set wheel joints to rotate forward (indices 12-15 for the 4 wheels)
+    wheel_velocity[:, 12:16] = 5.0  # 5 rad/s forward rotation
+


Hard-coding wheel joint indices (12:16) is brittle and will break if joint ordering changes (e.g., morphology randomization or builder updates). Prefer deriving indices from articulation.joint_names (e.g., regex match .*_wheel_joint) and setting only those indices.

Suggested change

# Set wheel joints to rotate forward (indices 12-15 for the 4 wheels)

wheel_velocity[:, 12:16] = 5.0 # 5 rad/s forward rotation

# Derive wheel joint indices dynamically from articulation.joint_names

wheel_joint_indices = [

i for i, name in enumerate(articulation.joint_names) if name.endswith("_wheel_joint")

]

if wheel_joint_indices:

# Set wheel joints to rotate forward (e.g., 5 rad/s forward rotation)

wheel_velocity[:, wheel_joint_indices] = 5.0

else:

# No wheel joints found; leave wheel_velocity as zeros

print("[WARN]: No wheel joints found matching '*_wheel_joint'; wheels will not be commanded.")

ZihanWang0422 added 2 commits January 31, 2026 23:11

add quadwheel/biped scripts

2730459

chore: fix merge conflict

3d82031

Copilot AI review requested due to automatic review settings January 31, 2026 15:26

Copilot AI reviewed Jan 31, 2026

View reviewed changes

fix: readme typo

5a28c69

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Update quadwheel/biped scripts#1

Update quadwheel/biped scripts#1
ZihanWang0422 wants to merge 3 commits intobtx0424:devfrom
ZihanWang0422:rl_baseline

ZihanWang0422 commented Jan 31, 2026

Uh oh!

Copilot AI left a comment

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Copilot AI Jan 31, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

1 participant

	python scripts/quawheel_scene.py
	python scripts/quadwheel_scene.py

		# Set wheel joints to rotate forward (indices 12-15 for the 4 wheels)
		wheel_velocity[:, 12:16] = 5.0 # 5 rad/s forward rotation

-    # Set wheel joints to rotate forward (indices 12-15 for the 4 wheels)
-    wheel_velocity[:, 12:16] = 5.0  # 5 rad/s forward rotation
+    # Derive wheel joint indices dynamically from articulation.joint_names
+    wheel_joint_indices = [
+        i for i, name in enumerate(articulation.joint_names) if name.endswith("_wheel_joint")
+    ]
+    if wheel_joint_indices:
+        # Set wheel joints to rotate forward (e.g., 5 rad/s forward rotation)
+        wheel_velocity[:, wheel_joint_indices] = 5.0
+    else:
+        # No wheel joints found; leave wheel_velocity as zeros
+        print("[WARN]: No wheel joints found matching '*_wheel_joint'; wheels will not be commanded.")

Conversation

ZihanWang0422 commented Jan 31, 2026

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 31, 2026

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

1 participant