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google-research / robopianist

[CoRL '23] Dexterous piano playing with deep reinforcement learning.
https://kzakka.com/robopianist/
Apache License 2.0
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Bugs with MacOS #15

Closed boshi-an closed 9 months ago

boshi-an commented 9 months ago

Running the ipynb, I get different results as what I get on colab.

MacOS:

Screenshot 2023-12-24 at 15 59 30

CoLab:

Screenshot 2023-12-24 at 15 59 52
kevinzakka commented 9 months ago

If you don't care about using the updated Shadow Hand model with newest forearm meshes, then make sure you checkout commit 1afc8be64233dcfe943b2fe0c505ec1e87a0a13e in the menagerie submodule.

Otherwise, update _LEFT_HAND_QUATERNION and _RIGHT_HAND_QUATERNION to (0, -1, 0, 1) here.

kevinzakka commented 9 months ago

Actually I'm wrong. Don't update left and right quaternion. Just use the specific commit please. I'll push a fix that insures the install script checks it out too. Thanks for raising this issue btw!