Fixed some bugs

1. CURIQbSoftHandSynergyGrasp action space 6->7
2. gdown to the newest version

README.md

@@ -178,8 +178,8 @@ If you use rofunc in a scientific publication, we would appreciate citations to
 ```
 @software{liu2023rofunc,
           title = {Rofunc: The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation},
-          author = {Liu, Junjia and Li, Chenzui and Delehelle, Donatien and Li, Zhihao and Yu, Minghao and Chen, Fei},
-          year = {2023},     
+          author = {Liu, Junjia and Dong, Zhipeng and Li, Chenzui and Li, Zhihao and Yu, Minghao and Delehelle, Donatien and Chen, Fei},
+          year = {2023},
           publisher = {Zenodo},
           doi = {10.5281/zenodo.10016946},
           url = {https://doi.org/10.5281/zenodo.10016946},

examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py

@@ -65,7 +65,7 @@ def inference(custom_args):
                       "train={}{}RofuncRL".format(custom_args.task, custom_args.agent.upper()),
                       "device_id={}".format(custom_args.sim_device),
                       "rl_device=cuda:{}".format(custom_args.rl_device),
-                      "headless={}".format(False),
+                      "headless={}".format(True),
                       "num_envs={}".format(1)]
     cfg = get_config('./learning/rl', 'config', args=args_overrides)
     if custom_args.task == "CURIQbSoftHandSynergyGrasp":
@@ -117,15 +117,15 @@ def inference(custom_args):
     parser.add_argument("--task", type=str, default="CURIQbSoftHandSynergyGrasp")
     # Available objects: Hammer, Spatula, Large_Clamp, Mug, Power_Drill, Knife, Scissors, Large_Marker, Phillips_Screw_Driver
     # Only for CURIQbSoftHandSynergyGrasp
-    parser.add_argument("--object", type=str, default="Hammer")
+    parser.add_argument("--object", type=str, default="Mug")
     # Only for CURIQbSoftHandSynergyGrasp
     parser.add_argument("--use_synergy", type=str, default="True")
     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="True")
-    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()
 

examples/simulator/example_curi_track_traj.py

@@ -12,8 +12,8 @@
 
 traj_l = np.load('../data/LQT_LQR/taichi_1l.npy')
 traj_r = np.load('../data/LQT_LQR/taichi_1r.npy')
-traj_l[:, 0] += 0.2
-traj_r[:, 0] += 0.2
+traj_l[:, 0] += 0.8
+traj_r[:, 0] += 0.8
 traj_l[:, 1] = -traj_l[:, 1]
 traj_r[:, 1] = -traj_r[:, 1]
 traj_l[:, 3:] = [1, 0, 0, 0]

rofunc/config/simulator/CURI.yaml

@@ -13,10 +13,11 @@ env:
   asset:
     robot_name: "CURI"
     assetRoot:
-#    assetFile: "urdf/curi/urdf/curi_isaacgym_dual_arm.urdf"
+    assetFile: "urdf/curi/urdf/curi_isaacgym_dual_arm.urdf"
 #    assetFile: "urdf/curi/urdf/curi_isaacgym_dual_arm_w_softhand.urdf"
-    assetFile: "urdf/curi/urdf/curi_w_softhand_isaacgym.urdf"
-    init_pose: [1.3, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]
+#    assetFile: "urdf/curi/urdf/curi_w_softhand_isaacgym.urdf"
+#    init_pose: [1.3, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]
+    init_pose: [1.3, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
     fix_base_link: True
     disable_gravity: False
     flip_visual_attachments: True

rofunc/learning/RofuncRL/tasks/isaacgymenv/grasp/curi_qbhand_synergy_grasp.py

@@ -144,9 +144,9 @@ def __init__(self, cfg, rl_device, sim_device, graphics_device_id, headless, vir
 
         self.num_agents = 1
         if self.cfg["env"]["useSynergy"]:
-            self.cfg["env"]["numActions"] = 2 + 6  # 2-dim synergy for controlling each hand
+            self.cfg["env"]["numActions"] = 2 + 7  # 2-dim synergy for controlling each hand
         else:
-            self.cfg["env"]["numActions"] = 15 + 6  # 15-dim dof for controlling each hand
+            self.cfg["env"]["numActions"] = 15 + 7  # 15-dim dof for controlling each hand
         self.num_action = self.cfg["env"]["numActions"]
 
         super().__init__(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)

setup.py

@@ -33,7 +33,7 @@
                       'hydra-core==1.3.2',
                       'opencv-python==4.7.0.72',
                       'neurokit2==0.2.4',
-                      'gdown==4.6.3',
+                      'gdown==5.2.0',
                       'pytz==2023.3',
                       'shutup==0.2.0',
                       'numpy<=1.23.0',