🚀 [RofuncRL] Change folder of IsaacGym tasks

examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCubeStack_RofuncRL.py

@@ -1,8 +1,8 @@
 """
-FrankaCabinet (RofuncRL)
+FrankaCubeStack (RofuncRL)
 =======================
 
-Open drawers with a Franka robot, trained by RofuncRL
+FrankaCubeStack, trained by RofuncRL
 """
 
 import isaacgym
@@ -94,7 +94,7 @@ def inference(custom_args):
     parser.add_argument("--num_envs", type=int, default=4096)
     parser.add_argument("--device_id", type=int, default=gpu_id)
     parser.add_argument("--rl_device", type=str, default=f"cuda:{gpu_id}")
-    parser.add_argument("--headless", type=str, default="False")
+    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("--ckpt_path", type=str, default=None)
     custom_args = parser.parse_args()

rofunc/learning/RofuncRL/tasks/__init__.py

@@ -2,23 +2,23 @@ class Tasks:
     def __init__(self, env_type="isaacgym"):
         if env_type == "isaacgym":
             # Isaac Gym tasks
-            from .ant import AntTask
-            from .cartpole import CartpoleTask
-            from .curi_cabinet import CURICabinetTask
-            from .curi_cabinet_image import CURICabinetImageTask
-            from .curi_cabinet_bimanual import CURICabinetBimanualTask
-            from .curi_coffee_stirring import CURICoffeeStirringTask
-            from .franka_cabinet import FrankaCabinetTask
-            from .franka_cube_stack import FrankaCubeStackTask
-            from .humanoid import HumanoidTask
-            from .humanoid_amp import HumanoidAMPTask
-            from .ase.humanoid_amp_getup import HumanoidAMPGetupTask
-            from .ase.humanoid_perturb import HumanoidPerturbTask
-            from .ase.humanoid_heading import HumanoidHeadingTask
-            from .ase.humanoid_location import HumanoidLocationTask
-            from .ase.humanoid_reach import HumanoidReachTask
-            from .ase.humanoid_strike import HumanoidStrikeTask
-            from .ase.humanoid_view_motion import HumanoidViewMotionTask
+            from .isaacgym.ant import AntTask
+            from .isaacgym.cartpole import CartpoleTask
+            from .isaacgym.curi_cabinet import CURICabinetTask
+            from .isaacgym.curi_cabinet_image import CURICabinetImageTask
+            from .isaacgym.curi_cabinet_bimanual import CURICabinetBimanualTask
+            from .isaacgym.curi_coffee_stirring import CURICoffeeStirringTask
+            from .isaacgym.franka_cabinet import FrankaCabinetTask
+            from .isaacgym.franka_cube_stack import FrankaCubeStackTask
+            from .isaacgym.humanoid import HumanoidTask
+            from .isaacgym.humanoid_amp import HumanoidAMPTask
+            from .isaacgym.ase.humanoid_amp_getup import HumanoidAMPGetupTask
+            from .isaacgym.ase.humanoid_perturb import HumanoidPerturbTask
+            from .isaacgym.ase.humanoid_heading import HumanoidHeadingTask
+            from .isaacgym.ase.humanoid_location import HumanoidLocationTask
+            from .isaacgym.ase.humanoid_reach import HumanoidReachTask
+            from .isaacgym.ase.humanoid_strike import HumanoidStrikeTask
+            from .isaacgym.ase.humanoid_view_motion import HumanoidViewMotionTask
 
             self.task_map = {
                 "Ant": AntTask,

rofunc/learning/RofuncRL/tasks/amp/humanoid_amp_base.py → rofunc/learning/RofuncRL/tasks/isaacgym/amp/humanoid_amp_base.py

@@ -33,7 +33,7 @@
 from isaacgym import gymtorch
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 DOF_BODY_IDS = [1, 2, 3, 4, 6, 7, 9, 10, 11, 12, 13, 14]

rofunc/learning/RofuncRL/tasks/amp/motion_lib.py → rofunc/learning/RofuncRL/tasks/isaacgym/amp/motion_lib.py

@@ -32,7 +32,7 @@
 
 from rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d import SkeletonMotion
 from rofunc.utils.datalab.poselib.poselib.core import quat_mul_norm, quat_inverse, quat_angle_axis
-from rofunc.learning.RofuncRL.tasks.amp.humanoid_amp_base import DOF_BODY_IDS, DOF_OFFSETS
+from rofunc.learning.RofuncRL.tasks.isaacgym.amp.humanoid_amp_base import DOF_BODY_IDS, DOF_OFFSETS
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 

rofunc/learning/RofuncRL/tasks/ant.py → rofunc/learning/RofuncRL/tasks/isaacgym/ant.py

@@ -31,7 +31,7 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 from rofunc.utils.oslab.path import get_rofunc_path
 

rofunc/learning/RofuncRL/tasks/anymal.py → rofunc/learning/RofuncRL/tasks/isaacgym/anymal.py

@@ -33,7 +33,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 
 class Anymal(VecTask):

rofunc/learning/RofuncRL/tasks/anymal_terrain.py → rofunc/learning/RofuncRL/tasks/isaacgym/anymal_terrain.py

@@ -31,7 +31,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 
 class AnymalTerrain(VecTask):

rofunc/learning/RofuncRL/tasks/ase/humanoid.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid.py

@@ -33,7 +33,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 

rofunc/learning/RofuncRL/tasks/ase/humanoid_amp.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp.py

@@ -33,8 +33,8 @@
 from isaacgym.torch_utils import *
 
 import rofunc as rf
-from rofunc.learning.RofuncRL.tasks.ase.motion_lib import MotionLib
-from rofunc.learning.RofuncRL.tasks.ase.humanoid import Humanoid, dof_to_obs
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.motion_lib import MotionLib
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid import Humanoid, dof_to_obs
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 

rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_getup.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_getup.py

@@ -29,7 +29,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 
 class HumanoidAMPGetupTask(HumanoidAMP):

rofunc/learning/RofuncRL/tasks/ase/humanoid_amp_task.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_amp_task.py

@@ -28,7 +28,7 @@
 
 import torch
 
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 
 class HumanoidAMPTask(HumanoidAMP):

rofunc/learning/RofuncRL/tasks/ase/humanoid_heading.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_heading.py

@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 TAR_ACTOR_ID = 1

rofunc/learning/RofuncRL/tasks/ase/humanoid_location.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_location.py

@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 

rofunc/learning/RofuncRL/tasks/ase/humanoid_perturb.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_perturb.py

@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 # import env.tasks.humanoid_amp_getup as humanoid_amp_getup
 # # import env.tasks.humanoid_strike as humanoid_strike

rofunc/learning/RofuncRL/tasks/ase/humanoid_reach.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_reach.py

@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 

rofunc/learning/RofuncRL/tasks/ase/humanoid_strike.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_strike.py

@@ -32,7 +32,7 @@
 from isaacgym.torch_utils import *
 
 from rofunc.utils.oslab.path import get_rofunc_path
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp_task import HumanoidAMPTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp_task import HumanoidAMPTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
 
 

rofunc/learning/RofuncRL/tasks/ase/humanoid_view_motion.py → rofunc/learning/RofuncRL/tasks/isaacgym/ase/humanoid_view_motion.py

@@ -28,9 +28,9 @@
 
 import torch
 
-from isaacgym import gymtorch, gymapi
+from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.ase.humanoid_amp import HumanoidAMP
+from rofunc.learning.RofuncRL.tasks.isaacgym.ase.humanoid_amp import HumanoidAMP
 
 
 class HumanoidViewMotionTask(HumanoidAMP):

rofunc/learning/RofuncRL/tasks/base/curi_base_task.py → rofunc/learning/RofuncRL/tasks/isaacgym/base/curi_base_task.py

@@ -15,7 +15,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 
 class CURIBaseTask(VecTask):

rofunc/learning/RofuncRL/tasks/base/vec_task.py → rofunc/learning/RofuncRL/tasks/isaacgym/base/vec_task.py

@@ -31,8 +31,8 @@
 import gym
 from gym import spaces
 
-from isaacgym import gymtorch, gymapi
-from rofunc.learning.RofuncRL.tasks.base.dr_utils import (
+from isaacgym import gymapi
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.dr_utils import (
     get_property_setter_map,
     get_property_getter_map,
     get_default_setter_args,

rofunc/learning/RofuncRL/tasks/cartpole.py → rofunc/learning/RofuncRL/tasks/isaacgym/cartpole.py

@@ -32,7 +32,7 @@
 import torch
 from isaacgym import gymtorch, gymapi
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 

rofunc/learning/RofuncRL/tasks/curi_cabinet.py → rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet.py

@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.curi_base_task import CURIBaseTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.curi_base_task import CURIBaseTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 

rofunc/learning/RofuncRL/tasks/curi_cabinet_bimanual.py → rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_bimanual.py

@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.curi_base_task import CURIBaseTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.curi_base_task import CURIBaseTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 

rofunc/learning/RofuncRL/tasks/curi_cabinet_image.py → rofunc/learning/RofuncRL/tasks/isaacgym/curi_cabinet_image.py

@@ -18,8 +18,8 @@
 from isaacgym.torch_utils import *
 
 import rofunc as rf
-from rofunc.learning.RofuncRL.tasks.base.curi_base_task import CURIBaseTask
-from rofunc.learning.RofuncRL.tasks.curi_cabinet import CURICabinetTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.curi_base_task import CURIBaseTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.curi_cabinet import CURICabinetTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 

rofunc/learning/RofuncRL/tasks/curi_coffee_stirring.py → rofunc/learning/RofuncRL/tasks/isaacgym/curi_coffee_stirring.py

@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 

rofunc/learning/RofuncRL/tasks/franka_cabinet.py → rofunc/learning/RofuncRL/tasks/isaacgym/franka_cabinet.py

@@ -31,7 +31,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 

rofunc/learning/RofuncRL/tasks/franka_cube_stack.py → rofunc/learning/RofuncRL/tasks/isaacgym/franka_cube_stack.py

@@ -31,22 +31,13 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 from rofunc.utils.oslab.path import get_rofunc_path
 
 
 @torch.jit.script
 def axisangle2quat(vec, eps=1e-6):
-    """
-    Converts scaled axis-angle to quat.
-    Args:
-        vec (tensor): (..., 3) tensor where final dim is (ax,ay,az) axis-angle exponential coordinates
-        eps (float): Stability value below which small values will be mapped to 0
-
-    Returns:
-        tensor: (..., 4) tensor where final dim is (x,y,z,w) vec4 float quaternion
-    """
     # type: (Tensor, float) -> Tensor
     # store input shape and reshape
     input_shape = vec.shape[:-1]

rofunc/learning/RofuncRL/tasks/furniture.py → rofunc/learning/RofuncRL/tasks/isaacgym/furniture.py

@@ -15,8 +15,8 @@
 import yaml
 import mujoco_py
 
-from . import transform_utils as T
-from .base import EnvMeta
+from rofunc.learning.RofuncRL.tasks import transform_utils as T
+from rofunc.learning.RofuncRL.tasks.isaacgym.base import EnvMeta
 from .image_utils import color_segmentation
 from .mjcf_utils import xml_path_completion
 from .models import (

rofunc/learning/RofuncRL/tasks/furniture_baxter.py → rofunc/learning/RofuncRL/tasks/isaacgym/furniture_baxter.py

@@ -5,7 +5,7 @@
 import numpy as np
 import gym.spaces
 
-from . import transform_utils as T
+from rofunc.learning.RofuncRL.tasks import transform_utils as T
 from .furniture import FurnitureEnv
 from ..util.logger import logger
 

rofunc/learning/RofuncRL/tasks/humanoid.py → rofunc/learning/RofuncRL/tasks/isaacgym/humanoid.py

@@ -31,7 +31,7 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 from rofunc.utils.oslab.path import get_rofunc_path
 

rofunc/learning/RofuncRL/tasks/humanoid_amp.py → rofunc/learning/RofuncRL/tasks/isaacgym/humanoid_amp.py

@@ -33,8 +33,8 @@
 from isaacgym import gymtorch
 
 import rofunc as rf
-from rofunc.learning.RofuncRL.tasks.amp.humanoid_amp_base import HumanoidAMPBase, dof_to_obs
-from rofunc.learning.RofuncRL.tasks.amp.motion_lib import MotionLib
+from rofunc.learning.RofuncRL.tasks.isaacgym.amp.humanoid_amp_base import HumanoidAMPBase, dof_to_obs
+from rofunc.learning.RofuncRL.tasks.isaacgym.amp.motion_lib import MotionLib
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 NUM_AMP_OBS_PER_STEP = 13 + 52 + 28 + 12  # [root_h, root_rot, root_vel, root_ang_vel, dof_pos, dof_vel, key_body_pos]

rofunc/learning/RofuncRL/tasks/ikea.py → rofunc/learning/RofuncRL/tasks/isaacgym/ikea.py

@@ -17,7 +17,7 @@
 from isaacgym import gymtorch, gymapi
 from isaacgym.torch_utils import *
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.utils.oslab.path import get_rofunc_path
 
 

rofunc/learning/RofuncRL/tasks/shadow_hand.py → rofunc/learning/RofuncRL/tasks/isaacgym/shadow_hand.py

@@ -31,7 +31,7 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
 
 

rofunc/learning/RofuncRL/tasks/trifinger.py → rofunc/learning/RofuncRL/tasks/isaacgym/trifinger.py

@@ -32,10 +32,10 @@
 from isaacgym import gymapi
 from isaacgym import gymtorch
 
-project_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
+project_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../..'))
 
 from rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils import *
-from rofunc.learning.RofuncRL.tasks.base.vec_task import VecTask
+from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 
 from types import SimpleNamespace
 from collections import deque
@@ -175,7 +175,7 @@ def __compute(self):
 class Trifinger(VecTask):
     # constants
     # directory where assets for the simulator are present
-    _trifinger_assets_dir = os.path.join(project_dir, "../", "assets", "trifinger")
+    _trifinger_assets_dir = os.path.join(project_dir, "../../", "assets", "trifinger")
     # robot urdf (path relative to `_trifinger_assets_dir`)
     _robot_urdf_file = "robot_properties_fingers/urdf/pro/trifingerpro.urdf"
     # stage urdf (path relative to `_trifinger_assets_dir`)