Fix some bugs

Skylark0924 · Jan 17, 2024 · 7760059 · 7760059
1 parent 3cdebfe
commit 7760059
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Showing 5 changed files with 12 additions and 4 deletions.
diff --git a/examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py b/examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py
@@ -105,8 +105,8 @@ def inference(custom_args):
     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=None)
+    parser.add_argument("--inference", action="store_false", help="turn to inference mode while adding this argument")
+    parser.add_argument("--ckpt_path", type=str, default="/home/ubuntu/Github/Rofunc/examples/learning_rl/IsaacGym_RofuncRL/runs/RofuncRL_PPOTrainer_CURIQbSoftHandSynergyGrasp_24-01-16_18-07-26-242566/checkpoints/best_ckpt.pth")
     custom_args = parser.parse_args()
 
     if not custom_args.inference:

diff --git a/rofunc/config/learning/rl/task/CURIQbSoftHandSynergyGrasp.yaml b/rofunc/config/learning/rl/task/CURIQbSoftHandSynergyGrasp.yaml
@@ -38,7 +38,7 @@ env:
   fallDistance: 0.4
   fallPenalty: 0.0
 
-  objectType: "power_drill" # can be block, egg or pen
+  objectType: "knife" # can be power_drill, hammer, large_clamp, spatula, screw_driver, wine_glass, mug, knife, scissors, phillips_screw_driver
   observationType: "full_state" # point_cloud or full_state
   handAgentIndex: "[[0, 1, 2, 3, 4, 5]]"
   asymmetric_observations: False

diff --git a/rofunc/learning/RofuncRL/tasks/isaacgymenv/grasp/base/__init__.py b/rofunc/learning/RofuncRL/tasks/isaacgymenv/grasp/base/__init__.py
diff --git a/rofunc/learning/RofuncRL/tasks/isaacgymenv/grasp/utils/__init__.py b/rofunc/learning/RofuncRL/tasks/isaacgymenv/grasp/utils/__init__.py
diff --git a/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/curi_qbhand_synergy_grasp.py b/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/curi_qbhand_synergy_grasp.py
@@ -80,6 +80,14 @@ def __init__(self, cfg, rl_device, sim_device, graphics_device_id, headless, vir
             # "pot": "mjcf/pot.xml",
             "pot": "mjcf/bucket/100454/mobility.urdf",
             "power_drill": "urdf/ycb/035_power_drill/035_power_drill.urdf",
+            "hammer": "urdf/ycb/048_hammer/048_hammer.urdf",
+            "large_clamp": "urdf/ycb/051_large_clamp/051_large_clamp.urdf",
+            "spatula": "urdf/ycb/033_spatula/033_spatula.urdf",
+            "wine_glass": "urdf/ycb/023_wine_glass/023_wine_glass.urdf",
+            "mug": "urdf/ycb/025_mug/025_mug.urdf",
+            "knife": "urdf/ycb/032_knife/032_knife.urdf",
+            "scissors": "urdf/ycb/037_scissors/037_scissors.urdf",
+            "phillips_screw_driver": "urdf/ycb/043_phillips_screwdriver/043_phillips_screwdriver.urdf",
         }
 
         if "asset" in self.cfg["env"]:
@@ -357,7 +365,7 @@ def _create_envs(self, num_envs, spacing, num_per_row):
         object_asset_options.vhacd_enabled = True
         object_asset_options.disable_gravity = False
         object_asset_options.vhacd_params = gymapi.VhacdParams()
-        object_asset_options.vhacd_params.resolution = 100000
+        object_asset_options.vhacd_params.resolution = 100
         object_asset_options.default_dof_drive_mode = gymapi.DOF_MODE_NONE
         # object_asset_options.override_com = True
         # object_asset_options.override_inertia = True