Reproducibility / Rebranding to MI-HGNN / Match MorphoSymm

Reproducibility / Rebranding to MI-HGNN

README.md

@@ -1,18 +1,20 @@
 # MI-HGNN for contact estimation/classification
 This repository implements a Morphologically-inspired Heterogeneous graph neural network for estimating contact information on the feet of a quadruped robot.
 
-## Environment Setup
-To get started, setup a Conda Python environment with Python=3.11, and run the following command to install the necessary dependencies:
+## Installation
+To get started, setup a Conda Python environment with Python=3.11:
 ```
-pip install -r requirements.txt
+conda create -n mi-hgnn python=3.11
+conda activate mi-hgnn
 ```
 
-## Installation
-Then, install the library with the following command:
+Then, install the library (and dependencies) with the following command:
 ```
 pip install .
 ```
 
+Note, if you have any issues with setup, refer to the `environment_files/README.md` so you can install the exact libraries we used.
+
 ## URDF Download
 The necessary URDF files are part of git submodules in this repository, so run the following commands to download them:
 ```

environment_files/README.md

@@ -0,0 +1,3 @@
+## Environment Files
+
+In case you have difficulty installing the libraries, this folder contains verbose `requirements.txt` files and `conda_env.yml` to provide the exact versions of all the libraries used during training.

environment_files/conda_env.yml

@@ -0,0 +1,100 @@
+name: mi-hgnn
+channels:
+  - defaults
+dependencies:
+  - _libgcc_mutex=0.1=main
+  - _openmp_mutex=5.1=1_gnu
+  - bzip2=1.0.8=h5eee18b_6
+  - ca-certificates=2024.7.2=h06a4308_0
+  - ld_impl_linux-64=2.38=h1181459_1
+  - libffi=3.4.4=h6a678d5_1
+  - libgcc-ng=11.2.0=h1234567_1
+  - libgomp=11.2.0=h1234567_1
+  - libstdcxx-ng=11.2.0=h1234567_1
+  - libuuid=1.41.5=h5eee18b_0
+  - ncurses=6.4=h6a678d5_0
+  - openssl=3.0.14=h5eee18b_0
+  - pip=24.2=py311h06a4308_0
+  - python=3.11.9=h955ad1f_0
+  - readline=8.2=h5eee18b_0
+  - setuptools=72.1.0=py311h06a4308_0
+  - sqlite=3.45.3=h5eee18b_0
+  - tk=8.6.14=h39e8969_0
+  - wheel=0.43.0=py311h06a4308_0
+  - xz=5.4.6=h5eee18b_1
+  - zlib=1.2.13=h5eee18b_1
+  - pip:
+      - aiohappyeyeballs==2.3.6
+      - aiohttp==3.10.3
+      - aiosignal==1.3.1
+      - appdirs==1.4.4
+      - contourpy==1.2.1
+      - cycler==0.12.1
+      - cython==0.29.37
+      - docker-pycreds==0.4.0
+      - filelock==3.15.4
+      - fonttools==4.53.1
+      - freetype-py==2.4.0
+      - frozenlist==1.4.1
+      - fsspec==2024.6.1
+      - gdown==5.2.0
+      - imageio==2.35.0
+      - jinja2==3.1.4
+      - joblib==1.4.2
+      - kiwisolver==1.4.5
+      - lightning==2.2.1
+      - lightning-utilities==0.11.6
+      - lz4==4.3.3
+      - markupsafe==2.1.5
+      - matplotlib==3.8.3
+      - mi-hgnn==0.1.0
+      - mpmath==1.3.0
+      - multidict==6.0.5
+      - names==0.3.0
+      - networkx==3.2.1
+      - numpy==1.26.4
+      - nvidia-cublas-cu12==12.1.3.1
+      - nvidia-cuda-cupti-cu12==12.1.105
+      - nvidia-cuda-nvrtc-cu12==12.1.105
+      - nvidia-cuda-runtime-cu12==12.1.105
+      - nvidia-cudnn-cu12==8.9.2.26
+      - nvidia-cufft-cu12==11.0.2.54
+      - nvidia-curand-cu12==10.3.2.106
+      - nvidia-cusolver-cu12==11.4.5.107
+      - nvidia-cusparse-cu12==12.1.0.106
+      - nvidia-nccl-cu12==2.19.3
+      - nvidia-nvjitlink-cu12==12.6.20
+      - nvidia-nvtx-cu12==12.1.105
+      - pandas==2.2.1
+      - pillow==10.4.0
+      - protobuf==4.25.4
+      - pycollada==0.8
+      - pyglet==2.0.17
+      - pyopengl==3.1.7
+      - pyparsing==3.1.2
+      - pyribbit==0.1.46
+      - pysocks==1.7.1
+      - pytorch-lightning==2.4.0
+      - pyyaml==6.0.2
+      - rosbags==0.9.22
+      - ruamel-yaml==0.18.6
+      - ruamel-yaml-clib==0.2.8
+      - scikit-learn==1.4.1.post1
+      - scipy==1.12.0
+      - sentry-sdk==2.13.0
+      - setproctitle==1.3.3
+      - sympy==1.13.2
+      - threadpoolctl==3.5.0
+      - torch==2.2.1
+      - torch-geometric==2.5.0
+      - torchmetrics==1.3.2
+      - torchvision==0.17.1
+      - trimesh==4.4.6
+      - triton==2.2.0
+      - typing-extensions==4.12.2
+      - tzdata==2024.1
+      - urchin==0.0.27
+      - wandb==0.16.6
+      - yarl==1.9.4
+      - zstandard==0.23.0
+prefix: /home/dlittleman/miniconda3/envs/mi-hgnn

environment_files/requirements.txt

@@ -0,0 +1,223 @@
+actionlib==1.14.0
+aiohappyeyeballs==2.3.6
+aiohttp==3.10.3
+aiosignal==1.3.1
+angles==1.9.13
+appdirs==1.4.4
+attrs==23.1.0
+base58==2.1.1
+bcrypt==4.0.1
+beautifulsoup4==4.12.2
+bondpy==1.8.6
+camera-calibration==1.17.0
+camera-calibration-parsers==1.12.0
+catkin==0.8.10
+certifi==2023.5.7
+cffi==1.15.1
+charset-normalizer==3.1.0
+click==8.1.3
+contourpy==1.2.1
+controller-manager==0.20.0
+controller-manager-msgs==0.20.0
+cryptography==41.0.1
+cv-bridge==1.16.2
+cycler==0.12.1
+Cython==0.29.37
+diagnostic-analysis==1.11.0
+diagnostic-common-diagnostics==1.11.0
+diagnostic-updater==1.11.0
+distro==1.8.0
+docker==6.1.3
+docker-pycreds==0.4.0
+dockerpty==0.4.1
+dockertown==0.2.2
+docopt==0.6.2
+dt-authentication-daffy==0.1.16
+dt-data-api-daffy==1.2.0
+dtproject==0.0.5
+duckietown-docker-utils-daffy==6.1.1
+duckietown-shell==5.5.8
+dynamic-reconfigure==1.7.3
+ecdsa==0.18.0
+filelock==3.15.4
+fonttools==4.53.1
+freetype-py==2.4.0
+frozenlist==1.4.1
+fsspec==2024.6.1
+future==0.18.3
+gazebo_plugins==2.9.2
+gazebo_ros==2.9.2
+gdown==5.2.0
+gencpp==0.7.0
+geneus==3.0.0
+genlisp==0.4.18
+genmsg==0.6.0
+gennodejs==2.0.2
+genpy==0.6.15
+gitdb==4.0.10
+GitPython==3.1.31
+humanfriendly==10.0
+idna==3.4
+ifaddr==0.2.0
+image-geometry==1.16.2
+imageio==2.35.0
+interactive-markers==1.12.0
+Jinja2==3.1.4
+joblib==1.4.2
+joint-state-publisher==1.15.1
+joint-state-publisher-gui==1.15.1
+jsonschema==3.2.0
+kiwisolver==1.4.5
+laser_geometry==1.6.7
+lightning==2.2.1
+lightning-utilities==0.11.6
+lxml==4.9.2
+lz4==4.3.3
+MarkupSafe==2.1.5
+matplotlib==3.8.3
+message-filters==1.16.0
+mi_hgnn @ file:///home/dlittleman/state-estimation-gnn
+mpmath==1.3.0
+multidict==6.0.5
+names==0.3.0
+networkx==3.2.1
+numpy==1.26.4
+nvidia-cublas-cu12==12.1.3.1
+nvidia-cuda-cupti-cu12==12.1.105
+nvidia-cuda-nvrtc-cu12==12.1.105
+nvidia-cuda-runtime-cu12==12.1.105
+nvidia-cudnn-cu12==8.9.2.26
+nvidia-cufft-cu12==11.0.2.54
+nvidia-curand-cu12==10.3.2.106
+nvidia-cusolver-cu12==11.4.5.107
+nvidia-cusparse-cu12==12.1.0.106
+nvidia-nccl-cu12==2.19.3
+nvidia-nvjitlink-cu12==12.6.20
+nvidia-nvtx-cu12==12.1.105
+packaging==23.1
+pandas==2.2.1
+paramiko==3.2.0
+pillow==10.4.0
+progressbar2==4.2.0
+protobuf==4.25.4
+psutil==5.9.5
+pycollada==0.8
+pycparser==2.21
+pydantic==1.10.9
+pyglet==2.0.17
+PyNaCl==1.5.0
+PyOpenGL==3.1.7
+pyparsing==3.1.2
+pyribbit==0.1.46
+pyrsistent==0.19.3
+PySocks==1.7.1
+python-dateutil==2.8.2
+python-dotenv==0.21.1
+python-qt-binding==0.4.4
+python-utils==3.6.0
+pytorch-lightning==2.4.0
+pytz==2023.3
+PyYAML==6.0.2
+qt-dotgraph==0.4.2
+qt-gui==0.4.2
+qt-gui-cpp==0.4.2
+qt-gui-py-common==0.4.2
+requests==2.31.0
+resource_retriever==1.12.7
+rosbag==1.16.0
+rosbags==0.9.22
+rosboost-cfg==1.15.8
+rosclean==1.15.8
+roscreate==1.15.8
+rosgraph==1.16.0
+roslaunch==1.16.0
+roslib==1.15.8
+roslint==0.12.0
+roslz4==1.16.0
+rosmake==1.15.8
+rosmaster==1.16.0
+rosmsg==1.16.0
+rosnode==1.16.0
+rosparam==1.16.0
+rospy==1.16.0
+rosservice==1.16.0
+rostest==1.16.0
+rostopic==1.16.0
+rosunit==1.15.8
+roswtf==1.16.0
+rqt-console==0.4.12
+rqt-image-view==0.4.17
+rqt-logger-level==0.4.12
+rqt-moveit==0.5.11
+rqt-reconfigure==0.5.5
+rqt-robot-dashboard==0.5.8
+rqt-robot-monitor==0.5.15
+rqt-runtime-monitor==0.5.10
+rqt-rviz==0.7.0
+rqt-tf-tree==0.6.4
+rqt_action==0.4.9
+rqt_bag==0.5.1
+rqt_bag_plugins==0.5.1
+rqt_dep==0.4.12
+rqt_graph==0.4.14
+rqt_gui==0.5.3
+rqt_gui_py==0.5.3
+rqt_launch==0.4.9
+rqt_msg==0.4.10
+rqt_nav_view==0.5.7
+rqt_plot==0.4.13
+rqt_pose_view==0.5.11
+rqt_publisher==0.4.10
+rqt_py_common==0.5.3
+rqt_py_console==0.4.10
+rqt_robot_steering==0.5.12
+rqt_service_caller==0.4.10
+rqt_shell==0.4.11
+rqt_srv==0.4.9
+rqt_top==0.4.10
+rqt_topic==0.4.13
+rqt_web==0.4.10
+ruamel.yaml==0.18.6
+ruamel.yaml.clib==0.2.8
+rviz==1.14.25
+scikit-learn==1.4.1.post1
+scipy==1.12.0
+sensor-msgs==1.13.1
+sentry-sdk==2.13.0
+setproctitle==1.3.3
+six==1.16.0
+smach==2.5.2
+smach-ros==2.5.2
+smclib==1.8.6
+smmap==5.0.0
+soupsieve==2.4.1
+sympy==1.13.2
+termcolor==2.3.0
+texttable==1.6.7
+tf==1.13.2
+tf-conversions==1.13.2
+tf2-geometry-msgs==0.7.7
+tf2-kdl==0.7.7
+tf2-py==0.7.7
+tf2-ros==0.7.7
+threadpoolctl==3.5.0
+topic-tools==1.16.0
+torch==2.2.1
+torch_geometric==2.5.0
+torchmetrics==1.3.2
+torchvision==0.17.1
+tqdm==4.65.0
+trimesh==4.4.6
+triton==2.2.0
+typer==0.9.0
+typing_extensions==4.12.2
+tzdata==2024.1
+urchin==0.0.27
+urllib3==2.0.3
+wandb==0.16.6
+websocket-client==0.59.0
+whichcraft==0.6.1
+xacro==1.14.18
+yarl==1.9.4
+zeroconf==0.66.0
+zstandard==0.23.0

pyproject.toml

@@ -3,13 +3,32 @@ requires = ["hatchling"]
 build-backend = "hatchling.build"
 
 [project]
-name = "grfgnn"
+name = "mi_hgnn"
 version = "0.1.0"
+dependencies = [
+  "numpy==1.26.4",
+  "matplotlib==3.8.3",
+  "networkx==3.2.1",
+  "urchin==0.0.27",
+  "torch==2.2.1",
+  "torchvision==0.17.1",
+  "torchmetrics==1.3.2",
+  "torch_geometric==2.5.0",
+  "pandas==2.2.1",
+  "rosbags==0.9.22",
+  "lightning==2.2.1",
+  "wandb==0.16.6",
+  "scipy==1.12.0",
+  "names==0.3.0",
+  "scikit-learn==1.4.1.post1",
+  "gdown==5.2.0"
+]
 authors = [
   { name="Daniel Butterfield", email="[email protected]" },
   { name="Jackson Cheng", email="[email protected]" },
+  { name="Lu Gan", email="[email protected]" },
 ]
-description = "A graph neural network implementation that learns to estimate contact state on a robotic quadruped."
+description = "A Morphological-Informed Heterogeneous graph neural network implementation that learns to estimate contact state on a robotic quadruped."
 readme = "README.md"
 requires-python = ">=3.11"
 classifiers = [