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Skylark0924 committed Dec 1, 2024
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68 changes: 34 additions & 34 deletions README.md
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8 changes: 4 additions & 4 deletions doc/source/lfd/RofuncRL/AMP.md
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Expand Up @@ -36,30 +36,30 @@ with torch.no_grad():

### Humanoid Run

![HumanoidAMPRun Inference](../../../img/task_gifs/HumanoidRunRofuncRLAMP.gif)
![HumanoidAMPRun Inference](../../../img/task_gif/HumanoidRunRofuncRLAMP.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task HumanoidAMP_run --inference
```

### Humanoid BackFlip

![HumanoidAMPFlip Inference](../../../img/task_gifs/HumanoidFlipRofuncRLAMP.gif)
![HumanoidAMPFlip Inference](../../../img/task_gif/HumanoidFlipRofuncRLAMP.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task HumanoidAMP_backflip --inference
```

### Humanoid Dance

![HumanoidAMPDance Inference](../../../img/task_gifs/HumanoidDanceRofuncRLAMP.gif)
![HumanoidAMPDance Inference](../../../img/task_gif/HumanoidDanceRofuncRLAMP.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task HumanoidAMP_dance --inference
```

### Humanoid Hop
![HumanoidAMPHop Inference](../../../img/task_gifs/HumanoidHopRofuncRLAMP.gif)
![HumanoidAMPHop Inference](../../../img/task_gif/HumanoidHopRofuncRLAMP.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task HumanoidAMP_hop --inference
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10 changes: 5 additions & 5 deletions doc/source/lfd/RofuncRL/ASE.md
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Expand Up @@ -10,7 +10,7 @@

### Pre-trained latent space model

![](../../../img/task_gifs/HumanoidASEGetupSwordShieldRofuncRLASE.gif)
![](../../../img/task_gif/HumanoidASEGetupSwordShieldRofuncRLASE.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task HumanoidASEGetupSwordShield --motion_file reallusion_sword_shield/dataset_reallusion_sword_shield.yaml --inference
Expand All @@ -23,7 +23,7 @@ boxes to the humanoid robot). It will use **the same pre-trained latent space mo
the `reset` function to reset by the maximum length of the episode, rather than resetting immediately when robots fall
on the ground.

![](../../../img/task_gifs/HumanoidASEPerturbSwordShieldRofuncRLASE.gif)
![](../../../img/task_gif/HumanoidASEPerturbSwordShieldRofuncRLASE.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task HumanoidASEPerturbSwordShield --motion_file reallusion_sword_shield/dataset_reallusion_sword_shield.yaml --inference
Expand All @@ -37,7 +37,7 @@ python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --

`HumanoidASEHeadingSwordShield` task: the humanoid robot should face to the blue line and walk towards the red line.

![](../../../img/task_gifs/HumanoidASEHeadingSwordShieldRofuncRLASE.gif)
![](../../../img/task_gif/HumanoidASEHeadingSwordShieldRofuncRLASE.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task HumanoidASEHeadingSwordShield --motion_file reallusion_sword_shield/RL_Avatar_Idle_Ready_Motion.npy --inference
Expand All @@ -48,7 +48,7 @@ python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --
`HumanoidASELocationSwordShield` task: the humanoid robot should walk to the red location.


![](../../../img/task_gifs/HumanoidASELocationSwordShieldRofuncRLASE.gif)
![](../../../img/task_gif/HumanoidASELocationSwordShieldRofuncRLASE.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task HumanoidASELocationSwordShield --motion_file reallusion_sword_shield/RL_Avatar_Idle_Ready_Motion.npy --inference
Expand All @@ -66,7 +66,7 @@ python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --

`HumanoidASEStrikeSwordShield` task: the humanoid robot should strike the sword to the block.

![](../../../img/task_gifs/HumanoidASEStrikeSwordShieldRofuncRLASE.gif)
![](../../../img/task_gif/HumanoidASEStrikeSwordShieldRofuncRLASE.gif)

```shell
python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task HumanoidASEStrikeSwordShield --motion_file reallusion_sword_shield/RL_Avatar_Idle_Ready_Motion.npy --inference
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2 changes: 1 addition & 1 deletion doc/source/lfd/RofuncRL/PPO.md
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Expand Up @@ -37,7 +37,7 @@ $$

### CURICabinet

![CURICabinet](../../../img/task_gifs/CURICabinetRofuncRLPPO.gif)
![CURICabinet](../../../img/task_gif/CURICabinetRofuncRLPPO.gif)

```shell
python examples/learning_rl/example_CURICabinet_RofuncRL.py --inference
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82 changes: 41 additions & 41 deletions examples/learning_rl/README.rst
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Expand Up @@ -242,47 +242,47 @@ The following are examples of reinforcement learning methods for robot learning.



.. |Ant-gif| image:: ../../img/task_gifs/AntRofuncRLPPO.gif
.. |FrC-gif| image:: ../../img/task_gifs/FrankaCabinetRofuncRLPPO.gif
.. |CUC-gif| image:: ../../img/task_gifs/CURICabinetRofuncRLPPO.gif
.. |CCI-gif| image:: ../../img/task_gifs/CURICabinetRofuncRLPPO.gif
.. |CSG-gif1| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspSpatulaRofuncRLPPO.gif
.. |CSG-gif2| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.gif
.. |CSG-gif3| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspKnifeRofuncRLPPO.gif
.. |CSG-gif4| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspLarge_clampRofuncRLPPO.gif
.. |CSG-gif5| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspMugRofuncRLPPO.gif
.. |CSG-gif6| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspPhillips_Screw_DriverRofuncRLPPO.gif
.. |CSG-gif7| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspPower_drillRofuncRLPPO.gif
.. |CSG-gif8| image:: ../../img/task_gifs/CURIQbSoftHandSynergyGraspScissorsRofuncRLPPO.gif
.. |Hod-gif| image:: ../../img/task_gifs/HumanoidRofuncRLPPO.gif
.. |HAB-gif| image:: ../../img/task_gifs/HumanoidFlipRofuncRLAMP.gif
.. |HAR-gif| image:: ../../img/task_gifs/HumanoidRunRofuncRLAMP.gif
.. |HAD-gif| image:: ../../img/task_gifs/HumanoidDanceRofuncRLAMP.gif
.. |HAH-gif| image:: ../../img/task_gifs/HumanoidHopRofuncRLAMP.gif
.. |HEG-gif| image:: ../../img/task_gifs/HumanoidASEGetupSwordShieldRofuncRLASE.gif
.. |HEP-gif| image:: ../../img/task_gifs/HumanoidASEPerturbSwordShieldRofuncRLASE.gif
.. |HEH-gif| image:: ../../img/task_gifs/HumanoidASEHeadingSwordShieldRofuncRLASE.gif
.. |HEL-gif| image:: ../../img/task_gifs/HumanoidASELocationSwordShieldRofuncRLASE.gif
.. |HES-gif| image:: ../../img/task_gifs/HumanoidASEStrikeSwordShieldRofuncRLASE.gif
.. |SBS-gif| image:: ../../img/task_gifs/BiShadowHandBlockStackRofuncRLPPO.gif
.. |SBC-gif| image:: ../../img/task_gifs/BiShadowHandBottleCapRofuncRLPPO.gif
.. |SCA-gif| image:: ../../img/task_gifs/BiShadowHandCatchAbreastRofuncRLPPO.gif
.. |SU2-gif| image:: ../../img/task_gifs/BiShadowHandCatchOver2UnderarmRofuncRLPPO.gif
.. |SCU-gif| image:: ../../img/task_gifs/BiShadowHandCatchUnderarmRofuncRLPPO.gif
.. |SOI-gif| image:: ../../img/task_gifs/BiShadowHandDoorOpenInwardRofuncRLPPO.gif
.. |SOO-gif| image:: ../../img/task_gifs/BiShadowHandDoorOpenOutwardRofuncRLPPO.gif
.. |SCI-gif| image:: ../../img/task_gifs/BiShadowHandDoorCloseInwardRofuncRLPPO.gif
.. |SCO-gif| image:: ../../img/task_gifs/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif
.. |SGP-gif| image:: ../../img/task_gifs/BiShadowHandGraspAndPlaceRofuncRLPPO.gif
.. |SLU-gif| image:: ../../img/task_gifs/BiShadowHandLiftUnderarmRofuncRLPPO.gif
.. |SHO-gif| image:: ../../img/task_gifs/BiShadowHandOverRofuncRLPPO.gif
.. |SPE-gif| image:: ../../img/task_gifs/BiShadowHandPenRofuncRLPPO.gif
.. |SPB-gif| image:: ../../img/task_gifs/BiShadowHandPushBlockRofuncRLPPO.gif
.. |SRO-gif| image:: ../../img/task_gifs/BiShadowHandReOrientationRofuncRLPPO.gif
.. |SSC-gif| image:: ../../img/task_gifs/BiShadowHandScissorsRofuncRLPPO.gif
.. |SSW-gif| image:: ../../img/task_gifs/BiShadowHandSwingCupRofuncRLPPO.gif
.. |SWH-gif| image:: ../../img/task_gifs/BiShadowHandSwitchRofuncRLPPO.gif
.. |STC-gif| image:: ../../img/task_gifs/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif
.. |Ant-gif| image:: ../../img/task_gif/AntRofuncRLPPO.gif
.. |FrC-gif| image:: ../../img/task_gif/FrankaCabinetRofuncRLPPO.gif
.. |CUC-gif| image:: ../../img/task_gif/CURICabinetRofuncRLPPO.gif
.. |CCI-gif| image:: ../../img/task_gif/CURICabinetRofuncRLPPO.gif
.. |CSG-gif1| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspSpatulaRofuncRLPPO.gif
.. |CSG-gif2| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.gif
.. |CSG-gif3| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspKnifeRofuncRLPPO.gif
.. |CSG-gif4| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspLarge_clampRofuncRLPPO.gif
.. |CSG-gif5| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspMugRofuncRLPPO.gif
.. |CSG-gif6| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspPhillips_Screw_DriverRofuncRLPPO.gif
.. |CSG-gif7| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspPower_drillRofuncRLPPO.gif
.. |CSG-gif8| image:: ../../img/task_gif/CURIQbSoftHandSynergyGraspScissorsRofuncRLPPO.gif
.. |Hod-gif| image:: ../../img/task_gif/HumanoidRofuncRLPPO.gif
.. |HAB-gif| image:: ../../img/task_gif/HumanoidFlipRofuncRLAMP.gif
.. |HAR-gif| image:: ../../img/task_gif/HumanoidRunRofuncRLAMP.gif
.. |HAD-gif| image:: ../../img/task_gif/HumanoidDanceRofuncRLAMP.gif
.. |HAH-gif| image:: ../../img/task_gif/HumanoidHopRofuncRLAMP.gif
.. |HEG-gif| image:: ../../img/task_gif/HumanoidASEGetupSwordShieldRofuncRLASE.gif
.. |HEP-gif| image:: ../../img/task_gif/HumanoidASEPerturbSwordShieldRofuncRLASE.gif
.. |HEH-gif| image:: ../../img/task_gif/HumanoidASEHeadingSwordShieldRofuncRLASE.gif
.. |HEL-gif| image:: ../../img/task_gif/HumanoidASELocationSwordShieldRofuncRLASE.gif
.. |HES-gif| image:: ../../img/task_gif/HumanoidASEStrikeSwordShieldRofuncRLASE.gif
.. |SBS-gif| image:: ../../img/task_gif/BiShadowHandBlockStackRofuncRLPPO.gif
.. |SBC-gif| image:: ../../img/task_gif/BiShadowHandBottleCapRofuncRLPPO.gif
.. |SCA-gif| image:: ../../img/task_gif/BiShadowHandCatchAbreastRofuncRLPPO.gif
.. |SU2-gif| image:: ../../img/task_gif/BiShadowHandCatchOver2UnderarmRofuncRLPPO.gif
.. |SCU-gif| image:: ../../img/task_gif/BiShadowHandCatchUnderarmRofuncRLPPO.gif
.. |SOI-gif| image:: ../../img/task_gif/BiShadowHandDoorOpenInwardRofuncRLPPO.gif
.. |SOO-gif| image:: ../../img/task_gif/BiShadowHandDoorOpenOutwardRofuncRLPPO.gif
.. |SCI-gif| image:: ../../img/task_gif/BiShadowHandDoorCloseInwardRofuncRLPPO.gif
.. |SCO-gif| image:: ../../img/task_gif/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif
.. |SGP-gif| image:: ../../img/task_gif/BiShadowHandGraspAndPlaceRofuncRLPPO.gif
.. |SLU-gif| image:: ../../img/task_gif/BiShadowHandLiftUnderarmRofuncRLPPO.gif
.. |SHO-gif| image:: ../../img/task_gif/BiShadowHandOverRofuncRLPPO.gif
.. |SPE-gif| image:: ../../img/task_gif/BiShadowHandPenRofuncRLPPO.gif
.. |SPB-gif| image:: ../../img/task_gif/BiShadowHandPushBlockRofuncRLPPO.gif
.. |SRO-gif| image:: ../../img/task_gif/BiShadowHandReOrientationRofuncRLPPO.gif
.. |SSC-gif| image:: ../../img/task_gif/BiShadowHandScissorsRofuncRLPPO.gif
.. |SSW-gif| image:: ../../img/task_gif/BiShadowHandSwingCupRofuncRLPPO.gif
.. |SWH-gif| image:: ../../img/task_gif/BiShadowHandSwitchRofuncRLPPO.gif
.. |STC-gif| image:: ../../img/task_gif/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif

.. |ModelZoo| replace:: `Model Zoo <https://github.com/Skylark0924/Rofunc/tree/main/rofunc/config/learning/model_zoo.json>`__
.. |Ant| replace:: `Ant <https://github.com/Skylark0924/Rofunc/tree/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ant.py>`__
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4 changes: 2 additions & 2 deletions scripts/utils/gif_cropping.sh
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@@ -1,6 +1,6 @@
#!/bin/bash
FILES="/home/ubuntu/Github/Rofunc/doc/img/task_gifs/*.gif"
FILES="/home/ubuntu/Github/Rofunc/doc/img/task_gif/*.gif"
for filename in $FILES; do
echo "Processing $filename file..."
ffmpeg -i $filename -vf crop=640*ih/480:ih:iw/2-320*ih/480:0 -r 10 -b:v 5000k ../task_gifs2/$(basename -- "$filename")
ffmpeg -i $filename -vf crop=640*ih/480:ih:iw/2-320*ih/480:0 -r 10 -b:v 5000k ../task_gif2/$(basename -- "$filename")
done
4 changes: 2 additions & 2 deletions scripts/utils/gif_watermark.sh
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@@ -1,6 +1,6 @@
#!/bin/bash
FILES="/home/ubuntu/Github/Rofunc/doc/img/task_gifs/*.gif"
FILES="/home/ubuntu/Github/Rofunc/doc/img/task_gif/*.gif"
for filename in $FILES; do
echo "Processing $filename file..."
ffmpeg -hide_banner -i $filename -i /home/ubuntu/Github/Rofunc/doc/img/logo/logo2_nb.png -filter_complex "[1:v][0:v]scale2ref=oh*mdar:ih/5[logo-out][video-out];[video-out][logo-out]overlay=W-w-10:H-h-10" -c:a copy /home/ubuntu/Github/Rofunc/doc/img/task_gifs/$(basename -- "$filename") -y
ffmpeg -hide_banner -i $filename -i /home/ubuntu/Github/Rofunc/doc/img/logo/logo2_nb.png -filter_complex "[1:v][0:v]scale2ref=oh*mdar:ih/5[logo-out][video-out];[video-out][logo-out]overlay=W-w-10:H-h-10" -c:a copy /home/ubuntu/Github/Rofunc/doc/img/task_gif/$(basename -- "$filename") -y
done

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