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🏄🏻‍♂️ Add IsaacLab install script
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@Skylark0924
Skylark0924 committed Aug 4, 2024
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27 changes: 17 additions & 10 deletions doc/source/index.md
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> **Repository address: https://github.com/Skylark0924/Rofunc** <br>
> **Documentation: https://rofunc.readthedocs.io/**
Rofunc package focuses on the **Imitation Learning (IL), Reinforcement Learning (RL) and Learning from Demonstration (LfD)** for
Rofunc package focuses on the **Imitation Learning (IL), Reinforcement Learning (RL) and Learning from Demonstration (
LfD)** for
**(Humanoid) Robot Manipulation**. It provides valuable and convenient python functions, including _demonstration
collection, data pre-processing, LfD algorithms, planning, and control methods_. We also provide an Isaac Gym-based robot simulator for
collection, data pre-processing, LfD algorithms, planning, and control methods_. We also provide an Isaac Gym-based
robot simulator for
evaluation. This package aims to advance the field by building a full-process toolkit and validation platform that
simplifies and standardizes the process of demonstration data collection, processing, learning, and its deployment on robots.
simplifies and standardizes the process of demonstration data collection, processing, learning, and its deployment on
robots.

![](../img/pipeline.png)

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| | | [`TD3(RofuncRL)`](https://rofunc.readthedocs.io/en/latest/lfd/RofuncRL/TD3.html) | ✅ | | | | | | |
| | | `CQL(RofuncRL)` | ⛔ | | | | | | |
| | | `TD3BC(RofuncRL)` | ⛔ | | | | | | |
| | | [`DTrans(RofuncRL)`](https://rofunc.readthedocs.io/en/latest/lfd/RofuncRL/DTrans.html) | ✅ | | | | | | |
| | | [`DTrans(RofuncRL)`](https://rofunc.readthedocs.io/en/latest/lfd/RofuncRL/DTrans.html) | ✅ | | | | | | |
| | | `EDAC(RofuncRL)` | ⛔ | | | | | | |
| | | [`AMP(RofuncRL)`](https://rofunc.readthedocs.io/en/latest/lfd/RofuncRL/AMP.html) | ✅ | | | | | | |
| | | [`ASE(RofuncRL)`](https://rofunc.readthedocs.io/en/latest/lfd/RofuncRL/ASE.html) | ✅ | | | | | | |
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```

> **Warning** <br>
> If our code is found to be used in a published paper without proper citation, we reserve the right to address this issue formally by contacting the editor to report potential academic misconduct!**
>
> 如果我们的代码被发现用于已发表的论文而没有被恰当引用，我们保留通过正式联系编辑报告潜在学术不端行为的权利。**
> **If our code is found to be used in a published paper without proper citation, we reserve the right to address this
> issue formally by contacting the editor to report potential academic misconduct!**
>
> **如果我们的代码被发现用于已发表的论文而没有被恰当引用，我们保留通过正式联系编辑报告潜在学术不端行为的权利。**
## Related Papers

1. Robot cooking with stir-fry: Bimanual non-prehensile manipulation of semi-fluid objects ([IEEE RA-L 2022](https://arxiv.org/abs/2205.05960) | [Code](../../rofunc/learning/RofuncIL/structured_transformer/strans.py))
1. Robot cooking with stir-fry: Bimanual non-prehensile manipulation of semi-fluid
objects ([IEEE RA-L 2022](https://arxiv.org/abs/2205.05960) | [Code](../../rofunc/learning/RofuncIL/structured_transformer/strans.py))

```
@article{liu2022robot,
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}
```

2. SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer ([IROS 2023](https://arxiv.org/abs/2306.12677)｜Code coming soon)
2. SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph
Transformer ([IROS 2023](https://arxiv.org/abs/2306.12677)｜Code coming soon)

```
@inproceedings{liu2023softgpt,
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}
```

3. BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human Demonstration ([IEEE CDC 2023](https://arxiv.org/abs/2307.05933) | [Code](../../rofunc/learning/ml/tpgmm.py))
3. BiRP: Learning Robot Generalized Bimanual Coordination using Relative Parameterization Method on Human
Demonstration ([IEEE CDC 2023](https://arxiv.org/abs/2307.05933) | [Code](../../rofunc/learning/ml/tpgmm.py))

```
@article{liu2023birp,
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# [Option] For MacOS user (brew is required, Isaac Gym based simulator is not supported on MacOS)
sh ./scripts/mac_install.sh
.. tab:: IsaacLab

Please follow the :guilabel:`Isaac Sim` `documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`__ to install the latest Isaac Sim release (:guilabel:`4.1.0`). Make sure the :guilabel:`$HOME/.local/share/ov/pkg/isaac-sim-4.1.0` is the default installation path. Then, run the following command to set up :guilabel:`IsaacLab`.

.. code-block:: shell
git clone https://github.com/Skylark0924/Rofunc.git
cd Rofunc
# Create a conda environment
# Python 3.10 is strongly recommended
conda create -n rofunc python=3.10
.. tab:: OmniIsaacGym

:guilabel:`Isaac Sim` has to be installed firstly by following this `documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`_. Note that the :guilabel:`Isaac Sim` version should be :guilabel:`2022.2.1`, :guilabel:`2023.1.0` is not supported yet since its default python version is `3.10` which is not compatible with :guilabel:`rofunc`.
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# Define aliases for the conda environment
alias pip3rfl="$HOME/anaconda3/envs/rofunc_isaaclab/bin/pip"
alias py3rfl="$HOME/anaconda3/envs/rofunc_isaaclab/bin/python3.10"

# Download IsaacLab and install it
cd ../
git clone https://github.com/isaac-sim/IsaacLab.git
cd IsaacLab
ln -s $HOME/.local/share/ov/pkg/isaac-sim-4.1.0 _isaac_sim
./isaaclab.sh --install

# Install the requirements and rofunc
pip3rfl install shutup
pip3rfl install omegaconf
pip3rfl install hydra-core
pip3rfl install nestle
pip3rfl install gdown
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