From 8715d2585f37af205d2403621988c18680bb2757 Mon Sep 17 00:00:00 2001 From: Junjia Liu Date: Mon, 5 Aug 2024 00:34:09 +0800 Subject: [PATCH] =?UTF-8?q?=F0=9F=8F=84=F0=9F=8F=BB=E2=80=8D=E2=99=82?= =?UTF-8?q?=EF=B8=8F=20Add=20IsaacLab=20install=20script?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- doc/source/index.md | 27 ++++++++++++------- doc/source/installation.rst | 16 +++++++++++ scripts/{mac_install.sh => install_mac.sh} | 0 scripts/{install.sh => install_w_isaacgym.sh} | 0 ...s.sh => install_w_isaacgym_w_baselines.sh} | 0 scripts/install_w_isaaclab.sh | 17 ++++++++++++ scripts/{update.sh => update_package.sh} | 0 7 files changed, 50 insertions(+), 10 deletions(-) rename scripts/{mac_install.sh => install_mac.sh} (100%) rename scripts/{install.sh => install_w_isaacgym.sh} (100%) rename scripts/{install_w_baselines.sh => install_w_isaacgym_w_baselines.sh} (100%) create mode 100644 scripts/install_w_isaaclab.sh rename scripts/{update.sh => update_package.sh} (100%) diff --git a/doc/source/index.md b/doc/source/index.md index 4214a8e82..be3f823d2 100644 --- a/doc/source/index.md +++ b/doc/source/index.md @@ -13,11 +13,14 @@ > **Repository address: https://github.com/Skylark0924/Rofunc**
> **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) @@ -56,7 +59,7 @@ The available functions and plans can be found as follows. | | | [`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) | ✅ | | | | | | | @@ -80,13 +83,15 @@ If you use rofunc in a scientific publication, we would appreciate citations to ``` > **Warning**
-> 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, @@ -101,7 +106,8 @@ If you use rofunc in a scientific publication, we would appreciate citations to } ``` -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, @@ -114,7 +120,8 @@ If you use rofunc in a scientific publication, we would appreciate citations to } ``` -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, diff --git a/doc/source/installation.rst b/doc/source/installation.rst index d68c146d4..47db6150d 100644 --- a/doc/source/installation.rst +++ b/doc/source/installation.rst @@ -31,6 +31,22 @@ Installation # [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 `__ to install the latest Isaac Sim release (:guilabel:`4.1.0`). Make sure the :guilabel:`$HOME/.local/share/ov/pkg/isaac-sim-4.1.0` is the default installation path. Then, run the following command to set up :guilabel:`IsaacLab`. + + .. code-block:: shell + + git clone https://github.com/Skylark0924/Rofunc.git + cd Rofunc + + # Create a conda environment + # Python 3.10 is strongly recommended + conda create -n rofunc python=3.10 + + + + .. tab:: OmniIsaacGym :guilabel:`Isaac Sim` has to be installed firstly by following this `documentation `_. Note that the :guilabel:`Isaac Sim` version should be :guilabel:`2022.2.1`, :guilabel:`2023.1.0` is not supported yet since its default python version is `3.10` which is not compatible with :guilabel:`rofunc`. diff --git a/scripts/mac_install.sh b/scripts/install_mac.sh similarity index 100% rename from scripts/mac_install.sh rename to scripts/install_mac.sh diff --git a/scripts/install.sh b/scripts/install_w_isaacgym.sh similarity index 100% rename from scripts/install.sh rename to scripts/install_w_isaacgym.sh diff --git a/scripts/install_w_baselines.sh b/scripts/install_w_isaacgym_w_baselines.sh similarity index 100% rename from scripts/install_w_baselines.sh rename to scripts/install_w_isaacgym_w_baselines.sh diff --git a/scripts/install_w_isaaclab.sh b/scripts/install_w_isaaclab.sh new file mode 100644 index 000000000..ed411c08b --- /dev/null +++ b/scripts/install_w_isaaclab.sh @@ -0,0 +1,17 @@ +# Define aliases for the conda environment +alias pip3rfl="$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 \ No newline at end of file diff --git a/scripts/update.sh b/scripts/update_package.sh similarity index 100% rename from scripts/update.sh rename to scripts/update_package.sh