🐛 Fix the gdown bug

Skylark0924 · Jan 22, 2024 · 41d1338 · 41d1338
1 parent 43fcf55
commit 41d1338
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Showing 4 changed files with 14 additions and 6 deletions.
diff --git a/examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py b/examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py
@@ -26,7 +26,9 @@ def train(custom_args):
                       "headless={}".format(custom_args.headless),
                       "num_envs={}".format(custom_args.num_envs)]
     cfg = get_config('./learning/rl', 'config', args=args_overrides)
-    cfg.train.Trainer.maximum_steps = 1000000
+    cfg.task.env.objectType = custom_args.object.lower()
+    cfg.train.Trainer.maximum_steps = 100000
+    cfg.train.Trainer.experiment_name = custom_args.object
     cfg_dict = omegaconf_to_dict(cfg.task)
 
     set_seed(cfg.train.Trainer.seed)
@@ -80,7 +82,7 @@ def inference(custom_args):
                                                         inference=True)
     # load checkpoint
     if custom_args.ckpt_path is None:
-        custom_args.ckpt_path = model_zoo(name=f"{custom_args.task}RofuncRLPPO.pth")
+        custom_args.ckpt_path = model_zoo(name=f"{custom_args.task}{custom_args.object}RofuncRLPPO.pth")
     trainer.agent.load_ckpt(custom_args.ckpt_path)
 
     # Start inference
@@ -100,12 +102,13 @@ def inference(custom_args):
     #                  QbSoftHandGrasp, BiQbSoftHandGraspAndPlace, BiQbSoftHandSynergyGrasp, QbSoftHandSynergyGrasp
     #                  ShadowHandGrasp, CURIQbSoftHandSynergyGrasp
     parser.add_argument("--task", type=str, default="CURIQbSoftHandSynergyGrasp")
+    parser.add_argument("--object", type=str, default="Hammer")
     parser.add_argument("--agent", type=str, default="ppo")  # Available agents: ppo, sac, td3, a2c
     parser.add_argument("--num_envs", type=int, default=1024)
     parser.add_argument("--sim_device", type=int, default=0)
     parser.add_argument("--rl_device", type=int, default=gpu_id)
     parser.add_argument("--headless", type=str, default="False")
-    parser.add_argument("--inference", action="store_true", help="turn to inference mode while adding this argument")
+    parser.add_argument("--inference", action="store_false", help="turn to inference mode while adding this argument")
     parser.add_argument("--ckpt_path", type=str, default=None)
     custom_args = parser.parse_args()
 

diff --git a/rofunc/config/learning/model_zoo.json b/rofunc/config/learning/model_zoo.json
@@ -179,6 +179,11 @@
     "name": "BiShadowHandTwoCatchUnderarmRofuncRLPPO.pth",
     "md5": ""
   },
+  "CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.pth": {
+    "url": "https://drive.google.com/uc?id=1VxFNboUOclQSzm0nAeA7kMjtNRQAk5-V&export=download",
+    "name": "CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.pth",
+    "md5": ""
+  },
   "efficientsam_s_gpu.jit": {
     "url": "https://drive.google.com/uc?id=1lMCUFOLeQOlIpuaIA00MB174lL7ZiuoS&export=download",
     "name": "efficientsam_s_gpu.jit",

diff --git a/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/curi_qbhand_synergy_grasp.py b/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/curi_qbhand_synergy_grasp.py
@@ -1243,8 +1243,8 @@ def pre_physics_step(self, actions):
                 pose.r.y = goal_rot[i, 1]
                 pose.r.z = goal_rot[i, 2]
                 pose.r.w = goal_rot[i, 3]
-                gymutil.draw_lines(self.axes_geom, self.gym, self.viewer, self.envs[i], pose)
-                gymutil.draw_lines(self.sphere_geom, self.gym, self.viewer, self.envs[i], pose)
+                # gymutil.draw_lines(self.axes_geom, self.gym, self.viewer, self.envs[i], pose)
+                # gymutil.draw_lines(self.sphere_geom, self.gym, self.viewer, self.envs[i], pose)
 
             # hand_dist = torch.norm(self.object_pos - hand_pos, p=2, dim=-1)
             # self.apply_forces[:, 0, :] = self.actions[:, 0:3] * self.dt * self.transition_scale * 100000

diff --git a/setup.py b/setup.py
@@ -33,7 +33,7 @@
                       'hydra-core==1.3.2',
                       'opencv-python==4.7.0.72',
                       'neurokit2==0.2.4',
-                      'gdown==4.7.1',
+                      'gdown==4.6.3',
                       'pytz==2023.3',
                       'shutup==0.2.0',
                       'numpy<=1.23.0',