Merge remote-tracking branch 'Rofunc-secret/main'

.gitignore

@@ -185,4 +185,23 @@ rofunc/simulator/assets/urdf/ycb/*
 
 examples/learning_rl/saved_runs/
 saved_runs/
-wandb
+wandb
+
+*_optitrack2bruce.npy
+*_optitrack2bruce_dof_states.npy
+*_optitrack2h1.npy
+*_optitrack2h1_dof_states.npy
+*_optitrack2walker.npy
+*_optitrack2walker_dof_states.npy
+*_optitrack2hotu.npy
+*_optitrack2hotu_dof_states.npy
+*_optitrack2zju.npy
+*_optitrack2zju_dof_states.npy
+*_optitrack2curi.npy
+*_optitrack2curi_dof_states.npy
+rofunc/simulator/assets/urdf/themis/archive/
+/rofunc/utils/robolab/rdf/data/
+
+examples/data/robolab/rdf/
+
+rofunc/simulator/assets/urdf/franka_description/rdf/

changelog.md

@@ -4,6 +4,7 @@
 > - 🚄 for planning and control updates
 > - 🖼️ for Visualab updates
 > - 📈 for Datalab updates
+> - 🦾 for Robolab updates
 > - 📚 for documentation updates
 > - 🎮 for simulator updates
 > - 🐛 for bug fixes

examples/data/hotu2/20240509/all_bruce_motion.yaml

@@ -0,0 +1,30 @@
+motions:
+  - file: "Boxing_Take 2024-05-09 04.19.43 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Chest pressing_Take 2024-05-09 04.21.46 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Finger movememnt_Take 2024-05-09 04.17.53 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Handshake_Take 2024-05-09 04.20.17 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Hook_Take 2024-05-09 04.34.03 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Jumping_Take 2024-05-09 04.15.38 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Kung fu_Take 2024-05-09 04.19.23 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Leg stretch_Take 2024-05-09 04.21.17 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Moving box_Take 2024-05-09 04.33.08 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Ramdom (good)_Take 2024-05-09 04.49.16 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Slapping_Take 2024-05-09 04.20.43 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Squating_Take 2024-05-09 04.21.34 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Thumbs up_Take 2024-05-09 04.33.36 PM_optitrack2bruce.npy"
+    weight: 1
+  - file: "Waving hand_Take 2024-05-09 04.20.29 PM_optitrack2bruce.npy"
+    weight: 1
+

examples/data/hotu2/20240509/all_h1_motion.yaml

@@ -0,0 +1,30 @@
+motions:
+  - file: "Boxing_Take 2024-05-09 04.19.43 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Chest pressing_Take 2024-05-09 04.21.46 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Finger movememnt_Take 2024-05-09 04.17.53 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Handshake_Take 2024-05-09 04.20.17 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Hook_Take 2024-05-09 04.34.03 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Jumping_Take 2024-05-09 04.15.38 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Kung fu_Take 2024-05-09 04.19.23 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Leg stretch_Take 2024-05-09 04.21.17 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Moving box_Take 2024-05-09 04.33.08 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Ramdom (good)_Take 2024-05-09 04.49.16 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Slapping_Take 2024-05-09 04.20.43 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Squating_Take 2024-05-09 04.21.34 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Thumbs up_Take 2024-05-09 04.33.36 PM_optitrack2h1.npy"
+    weight: 1
+  - file: "Waving hand_Take 2024-05-09 04.20.29 PM_optitrack2h1.npy"
+    weight: 1
+

examples/data/hotu2/20240509/all_hotu_motion.yaml

@@ -0,0 +1,30 @@
+motions:
+  - file: "Boxing_Take 2024-05-09 04.19.43 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Chest pressing_Take 2024-05-09 04.21.46 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Finger movememnt_Take 2024-05-09 04.17.53 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Handshake_Take 2024-05-09 04.20.17 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Hook_Take 2024-05-09 04.34.03 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Jumping_Take 2024-05-09 04.15.38 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Kung fu_Take 2024-05-09 04.19.23 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Leg stretch_Take 2024-05-09 04.21.17 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Moving box_Take 2024-05-09 04.33.08 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Ramdom (good)_Take 2024-05-09 04.49.16 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Slapping_Take 2024-05-09 04.20.43 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Squating_Take 2024-05-09 04.21.34 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Thumbs up_Take 2024-05-09 04.33.36 PM_optitrack2hotu.npy"
+    weight: 1
+  - file: "Waving hand_Take 2024-05-09 04.20.29 PM_optitrack2hotu.npy"
+    weight: 1
+

examples/data/hotu2/20240509/all_walker_motion.yaml

@@ -0,0 +1,30 @@
+motions:
+  - file: "Boxing_Take 2024-05-09 04.19.43 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Chest pressing_Take 2024-05-09 04.21.46 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Finger movememnt_Take 2024-05-09 04.17.53 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Handshake_Take 2024-05-09 04.20.17 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Hook_Take 2024-05-09 04.34.03 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Jumping_Take 2024-05-09 04.15.38 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Kung fu_Take 2024-05-09 04.19.23 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Leg stretch_Take 2024-05-09 04.21.17 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Moving box_Take 2024-05-09 04.33.08 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Ramdom (good)_Take 2024-05-09 04.49.16 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Slapping_Take 2024-05-09 04.20.43 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Squating_Take 2024-05-09 04.21.34 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Thumbs up_Take 2024-05-09 04.33.36 PM_optitrack2walker.npy"
+    weight: 1
+  - file: "Waving hand_Take 2024-05-09 04.20.29 PM_optitrack2walker.npy"
+    weight: 1
+

examples/data/hotu2/20240509/all_zju_motion.yaml

@@ -0,0 +1,30 @@
+motions:
+  - file: "Boxing_Take 2024-05-09 04.19.43 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Chest pressing_Take 2024-05-09 04.21.46 PM_optitrack2zju.npy"
+    weight: 1
+#  - file: "Finger movememnt_Take 2024-05-09 04.17.53 PM_optitrack2zju.npy"
+#    weight: 1
+  - file: "Handshake_Take 2024-05-09 04.20.17 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Hook_Take 2024-05-09 04.34.03 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Jumping_Take 2024-05-09 04.15.38 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Kung fu_Take 2024-05-09 04.19.23 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Leg stretch_Take 2024-05-09 04.21.17 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Moving box_Take 2024-05-09 04.33.08 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Ramdom (good)_Take 2024-05-09 04.49.16 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Slapping_Take 2024-05-09 04.20.43 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Squating_Take 2024-05-09 04.21.34 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Thumbs up_Take 2024-05-09 04.33.36 PM_optitrack2zju.npy"
+    weight: 1
+  - file: "Waving hand_Take 2024-05-09 04.20.29 PM_optitrack2zju.npy"
+    weight: 1
+

examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_ViewMotion.py

@@ -14,7 +14,6 @@
 
 
 def inference(custom_args):
-    view_motion_config = load_view_motion_config(custom_args.config_name)
     task_name = "HumanoidASEViewMotion"
     args_overrides = [
         f"task={task_name}",
@@ -26,11 +25,7 @@ def inference(custom_args):
     ]
     cfg = get_config("./learning/rl", "config", args=args_overrides)
     cfg.task.env.motion_file = custom_args.motion_file
-
-    # Overwrite
-    cfg.task.env.asset.assetFileName = view_motion_config["asset_name"]
-    cfg.task.env.asset.assetBodyNum = view_motion_config["asset_body_num"]
-    cfg.task.env.asset.assetJointNum = view_motion_config["asset_joint_num"]
+    cfg.task.env.asset.assetFileName = custom_args.asset
 
     cfg_dict = omegaconf_to_dict(cfg.task)
 
@@ -59,12 +54,16 @@ def inference(custom_args):
     gpu_id = 1
 
     parser = argparse.ArgumentParser()
-    # Find or define your own config in `rofunc/config/view_motion`
-    parser.add_argument("--config_name", type=str, default="HOTUHumanoid")
+    # Available types of asset file path:
+    #  1. mjcf/hotu_humanoid_w_qbhand_no_virtual.xml
+    #  2. mjcf/amp_humanoid_sword_shield.xml
+    #  3. mjcf/hotu/hotu_humanoid.xml
+    #  4. mjcf/amp_humanoid.xml
+    parser.add_argument("--asset", type=str, default="mjcf/hotu/hotu_humanoid.xml")
     # Available types of motion file path:
     #  1. test data provided by rofunc: `examples/data/amp/*.npy`
     #  2. custom motion file with absolute path
-    parser.add_argument("--motion_file", type=str, default="examples/data/amp/ase_humanoid_jog.npy")
+    parser.add_argument("--motion_file", type=str, default="/home/ubuntu/Github/HOTU/hotu/data/hotu/010_amp.npy")
     custom_args = parser.parse_args()
 
     inference(custom_args)

examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidHOTUAMP_RofuncRL.py

@@ -0,0 +1,111 @@
+"""
+HumanoidAMP (RofuncRL)
+===========================
+
+Humanoid backflip/walk/run/dance/hop, trained by RofuncRL
+"""
+
+import isaacgym
+import argparse
+
+from rofunc.config.utils import omegaconf_to_dict, get_config
+from rofunc.learning.RofuncRL.tasks import Tasks
+from rofunc.learning.RofuncRL.trainers import Trainers
+from rofunc.learning.pre_trained_models.download import model_zoo
+from rofunc.learning.utils.utils import set_seed
+
+
+def train(custom_args):
+    # Config task and trainer parameters for Isaac Gym environments
+    args_overrides = ["task={}".format(custom_args.task),
+                      "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(custom_args.headless),
+                      "num_envs={}".format(custom_args.num_envs)]
+    cfg = get_config('./learning/rl', 'config', args=args_overrides)
+    cfg.task.env.motion_file = custom_args.motion_file
+    cfg_dict = omegaconf_to_dict(cfg.task)
+
+    set_seed(cfg.train.Trainer.seed)
+
+    # Instantiate the Isaac Gym environment
+    env = Tasks().task_map[custom_args.task](cfg=cfg_dict,
+                                             rl_device=cfg.rl_device,
+                                             sim_device=f'cuda:{cfg.device_id}',
+                                             graphics_device_id=cfg.device_id,
+                                             headless=cfg.headless,
+                                             virtual_screen_capture=cfg.capture_video,  # TODO: check
+                                             force_render=cfg.force_render)
+
+    # Instantiate the RL trainer
+    trainer = Trainers().trainer_map[custom_args.agent](cfg=cfg,
+                                                        env=env,
+                                                        device=cfg.rl_device,
+                                                        env_name=custom_args.task)
+    if custom_args.ckpt_path is not None:
+        trainer.agent.load_ckpt(custom_args.ckpt_path)
+    # Start training
+    trainer.train()
+
+
+def inference(custom_args):
+    # Config task and trainer parameters for Isaac Gym environments
+    args_overrides = ["task={}".format(custom_args.task),
+                      "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),
+                      "num_envs={}".format(16)]
+    cfg = get_config('./learning/rl', 'config', args=args_overrides)
+    cfg.task.env.motion_file = custom_args.motion_file
+    cfg_dict = omegaconf_to_dict(cfg.task)
+
+    set_seed(cfg.train.Trainer.seed)
+
+    # Instantiate the Isaac Gym environment
+    infer_env = Tasks().task_map[custom_args.task](cfg=cfg_dict,
+                                                   rl_device=cfg.rl_device,
+                                                   sim_device=f'cuda:{cfg.device_id}',
+                                                   graphics_device_id=cfg.device_id,
+                                                   headless=cfg.headless,
+                                                   virtual_screen_capture=cfg.capture_video,  # TODO: check
+                                                   force_render=cfg.force_render)
+
+    # Instantiate the RL trainer
+    trainer = Trainers().trainer_map[custom_args.agent](cfg=cfg,
+                                                        env=infer_env,
+                                                        device=cfg.rl_device,
+                                                        env_name=custom_args.task,
+                                                        inference=True)
+
+    # load checkpoint
+    if custom_args.ckpt_path is None:
+        custom_args.ckpt_path = model_zoo(name=f"{custom_args.task}.pth")
+    trainer.agent.load_ckpt(custom_args.ckpt_path)
+
+    # Start inference
+    trainer.inference()
+
+
+if __name__ == '__main__':
+    gpu_id = 0
+
+    parser = argparse.ArgumentParser()
+    # Available tasks: HumanoidAMP_backflip, HumanoidAMP_walk, HumanoidAMP_run, HumanoidAMP_dance, HumanoidAMP_hop
+    parser.add_argument("--task", type=str, default="HumanoidAMP")
+    parser.add_argument("--motion_file", type=str, default="/home/ubuntu/Github/HOTU/hotu/data/hotu/011_amp.npy")
+    parser.add_argument("--agent", type=str, default="amp")  # Available agent: amp
+    parser.add_argument("--num_envs", type=int, default=4096)
+    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("--ckpt_path", type=str,
+                        default="/home/ubuntu/Github/SmartEase/Rofunc-secret/examples/learning_rl/IsaacGym_RofuncRL/runs/RofuncRL_AMPTrainer_HumanoidAMP_24-03-26_18-01-15-506194/checkpoints/ckpt_100000.pth")
+    custom_args = parser.parse_args()
+
+    if not custom_args.inference:
+        train(custom_args)
+    else:
+        inference(custom_args)