🎮 Add hotu_humanoid_w_hand MJCF model

examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_ViewMotion.py

@@ -59,8 +59,8 @@ def inference(custom_args):
     gpu_id = 1
 
     parser = argparse.ArgumentParser()
-    parser.add_argument("--config_name", type=str, default="HumanoidSpoonPanSimple")
-    parser.add_argument("--motion_file", type=str, default="../hotu/024_amp_3.npy")
+    parser.add_argument("--config_name", type=str, default="HOTU_Humanoid")
+    parser.add_argument("--motion_file", type=str, default="/home/ubuntu/Data/2023_11_15_HED/has_gloves/New Session-009_amp.npy")
     custom_args = parser.parse_args()
 
     inference(custom_args)

examples/simulator/example_robot_show.py

@@ -23,9 +23,9 @@
 # CURIminisim.show()
 
 # franka
-args = rf.config.get_sim_config("Franka")
-frankasim = rf.sim.FrankaSim(args)
-frankasim.show()
+# args = rf.config.get_sim_config("Franka")
+# frankasim = rf.sim.FrankaSim(args)
+# frankasim.show()
 
 # baxter
 # args = rf.config.get_sim_config("Baxter")
@@ -42,6 +42,16 @@
 # Gluonsim = rf.sim.GluonSim(args)
 # Gluonsim.show()
 
+# # qbsofthand
+# args = rf.config.get_sim_config("QbSoftHand")
+# QbSoftHandsim = rf.sim.QbSoftHandSim(args)
+# QbSoftHandsim.show()
+
+# Humanoid
+args = rf.config.get_sim_config("Humanoid")
+Humanoidsim = rf.sim.HumanoidSim(args)
+Humanoidsim.show()
+
 # TODO: Multi Robots
 # curi_args = rf.config.get_sim_config("CURI")
 # CURIsim = rf.sim.CURISim(curi_args)

rofunc/config/simulator/Humanoid.yaml

@@ -11,9 +11,9 @@ env:
   asset:
     robot_name: "Humanoid"
     assetRoot:
-    assetFile: "mjcf/amp_humanoid.xml"
-    init_pose: [0.0, 1.8, 0.0, 0.0, 0.0, 0.0, 1]
-    fix_base_link: False
+    assetFile: "mjcf/hotu_humanoid_w_hand.xml"
+    init_pose: [0.0, 0.0, 1.8, 0.0, 0.0, 0.0, 1]
+    fix_base_link: True
     flip_visual_attachments: False
     armature: 0.01
 

rofunc/config/simulator/QbSoftHand.yaml

@@ -0,0 +1,43 @@
+name: QbSoftHand
+
+physics_engine: 'physx'  #  'physx' or 'flex'
+graphics_device_id: 0
+sim_device: 'cuda:0'
+
+env:
+  numEnvs: 1
+  envSpacing: 3.
+
+  asset:
+    robot_name: "QbSoftHand"
+    assetRoot:
+    assetFile: "urdf/curi/urdf/qbhand_right.xml"
+#    assetFile: "urdf/curi/urdf/qbhand_right.urdf"
+    init_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
+    fix_base_link: True
+    flip_visual_attachments: False
+    armature: 0.01
+
+  object_asset:
+
+sim:
+  dt: 0.0166 # 1/60
+  substeps: 1
+  up_axis: "Z"
+  use_gpu_pipeline: False
+  gravity: ${if:${eq:${.up_axis}, "Y"}, [0, -9.81, 0], [0, 0, -9.81]}
+  physx:
+    num_threads: 4 # Number of worker threads per scene used by PhysX - for CPU PhysX only.
+    solver_type: 1 # 0: pgs, 1: tgs
+    use_gpu: False # set to False to run on CPU
+    num_position_iterations: 12
+    num_velocity_iterations: 1
+    contact_offset: 0.005
+    rest_offset: 0.0
+    bounce_threshold_velocity: 0.2
+    max_depenetration_velocity: 1000.0
+    num_subscenes: 4 # Splits the simulation into N physics scenes and runs each one in a separate thread
+    contact_collection: 0 # 0: CC_NEVER (don't collect contact info), 1: CC_LAST_SUBSTEP (collect only contacts on last substep), 2: CC_ALL_SUBSTEPS (default - all contacts)
+    friction_offset_threshold: 0.001
+    friction_correlation_distance: 0.0005
+

rofunc/config/view_motion/HOTU_Humanoid.yaml

@@ -0,0 +1,7 @@
+class_name: HumanoidViewMotion
+asset_name: "mjcf/hotu_humanoid.xml"
+asset_body_num: 15
+asset_joint_num: 34
+
+keyBodies: ["right_hand", "left_hand", "right_foot", "left_foot"]
+contactBodies: ["right_foot", "left_foot"]

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

@@ -32,6 +32,7 @@
 from isaacgym import gymtorch
 from isaacgym.torch_utils import *
 
+import rofunc as rf
 from rofunc.utils.oslab.path import get_rofunc_path
 from rofunc.learning.RofuncRL.tasks.isaacgym.base.vec_task import VecTask
 from rofunc.learning.RofuncRL.tasks.utils import torch_jit_utils as torch_utils
@@ -240,16 +241,12 @@ def _setup_character_props(self, key_bodies):
         second part is the observations for all bodies. The body number is multiplied by (3 position values, 6
         orientation values, 3 linear velocity, and 3 angular velocity); finally, -3 stands for
 
-        Args:
-            key_bodies:
-
-        Returns:
-
+        :param key_bodies:
         """
         # asset_body_num = self.cfg["env"]["asset"]["assetBodyNum"]
         # asset_joint_num = self.cfg["env"]["asset"]["assetJointNum"]
         asset_file = self.cfg["env"]["asset"]["assetFileName"]
-        num_key_bodies = len(key_bodies)
+        # num_key_bodies = len(key_bodies)
 
         # The following are: body_name (body_id/body's joint num to its parent/offset pair)
         # if asset_body_num == 15:
@@ -329,25 +326,20 @@ def _setup_character_props(self, key_bodies):
             self._dof_obs_size = 72
             self._num_actions = 28
             self._num_obs = 1 + 15 * (3 + 6 + 3 + 3) - 3
-
         elif asset_file == "mjcf/amp_humanoid_sword_shield.xml":
             self._dof_body_ids = [1, 2, 3, 4, 5, 7, 8, 11, 12, 13, 14, 15, 16]
             self._dof_offsets = [0, 3, 6, 9, 10, 13, 16, 17, 20, 21, 24, 27, 28, 31]
             self._dof_obs_size = 78
             self._num_actions = 31
             self._num_obs = 1 + 17 * (3 + 6 + 3 + 3) - 3
-
-        elif asset_file == "mjcf/amp_humanoid_spoon_pan_fixed.xml":
+        elif asset_file in ["mjcf/amp_humanoid_spoon_pan_fixed.xml", "mjcf/hotu_humanoid.xml"]:
             self._dof_body_ids = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]  # len=14
             self._dof_offsets = [0, 3, 6, 9, 10, 13, 16, 17, 20, 23, 24, 27, 30, 31, 34]  # len=14+1
             self._dof_obs_size = 84
             self._num_actions = 34
             self._num_obs = 1 + 15 * (3 + 6 + 3 + 3) - 3
-
         else:
-            assert print(f"Unsupported character config file: {asset_file}")
-
-        return
+            raise rf.logger.beauty_print(f"Unsupported character config file: {asset_file}")
 
     def _build_termination_heights(self):
         head_term_height = 0.3

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

@@ -189,7 +189,7 @@ def _setup_character_props(self, key_bodies):
             self._num_amp_obs_per_step = 13 + self._dof_obs_size + 28 + 3 * num_key_bodies  # [root_h, root_rot, root_vel, root_ang_vel, dof_pos, dof_vel, key_body_pos]
         elif asset_file == "mjcf/amp_humanoid_sword_shield.xml":
             self._num_amp_obs_per_step = 13 + self._dof_obs_size + 31 + 3 * num_key_bodies  # [root_h, root_rot, root_vel, root_ang_vel, dof_pos, d
-        elif asset_file == "mjcf/amp_humanoid_spoon_pan_fixed.xml":
+        elif asset_file in ["mjcf/amp_humanoid_spoon_pan_fixed.xml", "mjcf/hotu_humanoid.xml"]:
             self._num_amp_obs_per_step = 13 + self._dof_obs_size + 34 + 3 * num_key_bodies
         else:
             print(f"Unsupported humanoid body num: {asset_file}")

rofunc/learning/RofuncRL/trainers/ase_trainer.py

@@ -86,6 +86,7 @@ def pre_interaction(self):
         elif not self.hrl:
             if self.collect_observation is not None:  # Reset failed envs
                 obs_dict, done_env_ids = self.env.reset_done()
+                obs_dict, done_env_ids = self.agent.multi_gpu_transfer(obs_dict, done_env_ids)
                 self.agent._current_states = obs_dict["obs"]
                 if len(done_env_ids) > 0:
                     self._reset_latents(done_env_ids)

rofunc/simulator/__init__.py

@@ -8,4 +8,6 @@
 from .gluon_sim import GluonSim
 from .multirobot_sim import MultiRobotSim
 from .human_sim import HumanSim
+from .humanoid_sim import HumanoidSim
+from .qbsofthand_sim import QbSoftHandSim
 from .utils.xsens2urdf import xsens2urdf