Merge remote-tracking branch 'origin/czli-dev2'

rofunc/config/simulator/Humanoid.yaml

@@ -5,7 +5,7 @@ graphics_device_id: 0
 sim_device: 'cuda:0'
 
 env:
-  numEnvs: 16
+  numEnvs: 1
   envSpacing: 1
   numEnvPerRow: 1
 
@@ -18,6 +18,11 @@ env:
   # to anything > 0 will disable all self collisions.
   collision_mode: -1
 
+  mani:
+    enable: True
+    export_link: ...
+    vis: True
+
   asset:
     robot_name: "Humanoid"
     assetRoot:

rofunc/config/view_motion/HOTUHumanoidWQbhandNew.yaml

@@ -9,17 +9,19 @@ env:
   # animation files to learn from
 #  motion_file: "examples/data/hotu2/20240509/all_hotu_motion.yaml"
 #  motion_file: "examples/data/hotu2/20240509/Ramdom (good)_Take 2024-05-09 04.49.16 PM_optitrack2hotu.npy"
-  motion_file: "examples/data/hotu2/20240509/Jumping_Take 2024-05-09 04.15.38 PM_optitrack2hotu.npy"
+  motion_file: "examples/data/hotu2/demo_2_test_chenzui_only_optitrack2hotu.npy"
 
   use_extra_dof_states_motion: False
 
-  motion_file_asset: "mjcf/hotu/hotu_humanoid_w_qbhand_full_new.xml"
+#  motion_file_asset: "mjcf/hotu/hotu_humanoid_w_qbhand_full_new.xml"
+  motion_file_asset: "mjcf/hotu/hotu_humanoid.xml"
 
   object_motion_file:
 
   asset:
 #    assetFileName: "mjcf/hotu/hotu_humanoid_w_qbhand_full_new.xml"
-    assetFileName: "mjcf/hotu/hotu_humanoid_w_qbhand_full_new.xml"
+#    assetFileName: "mjcf/hotu/hotu_humanoid_w_qbhand_full_new.xml"
+    assetFileName: "mjcf/hotu/hotu_humanoid.xml"
 
   use_object_motion: False
   object_asset:
@@ -28,8 +30,8 @@ env:
     assetSize:         # List of object size, used for scaling the object and creating the box objects
 
 task:
-  wb_decompose: True  # if True, decompose the whole body into parts
+  wb_decompose: False  # if True, decompose the whole body into parts
   wb_decompose_parameter:
     parts: ["body"]
 #    parts: [ "hands", "upper_body", "lower_body" ]
-  use_synergy: True  # if True, use the synergy for the hand
+  use_synergy: False  # if True, use the synergy for the hand

rofunc/learning/RofuncRL/tasks/isaacgymenv/ase/humanoid_view_motion.py

@@ -27,6 +27,7 @@
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 import torch
+import csv
 
 from isaacgym import gymtorch
 
@@ -43,6 +44,7 @@ def __init__(
             headless,
             virtual_screen_capture,
             force_render,
+            csv_path
     ):
         self.cfg = cfg
         control_freq_inv = cfg["env"]["controlFrequencyInv"]
@@ -68,6 +70,10 @@ def __init__(
         )
         self._motion_ids = torch.remainder(self._motion_ids, num_motions)
 
+        # Initialize CSV writing
+        self.csv_file = open(csv_path, 'w', newline='')
+        self.csv_writer = csv.writer(self.csv_file)
+
     def pre_physics_step(self, actions):
         self.actions = actions.to(self.device).clone()
 
@@ -101,6 +107,10 @@ def _motion_sync(self):
             key_pos,
         ) = self._motion_lib.get_motion_state(motion_ids, motion_times)
 
+        # Convert torch tensor to a list and write to CSV
+        dof_pos_list = dof_pos.tolist()
+        self.csv_writer.writerows(dof_pos_list)
+
         root_vel = torch.zeros_like(root_vel)
         root_ang_vel = torch.zeros_like(root_ang_vel)
         dof_vel = torch.zeros_like(dof_vel)