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Singulating Object in Packed Environment

Table of Content

Overview

This repository is the implementation code of the paper "Learning to Singulate Objects in Packed Environments using a Dexterous Hand" (Paper, Website) by Hao Jiang, Yuhai Wang*, Hanyang Zhou*, and Daniel Seita. In this repo, we provide our full implementation code of simulation.

Installation

  • python 3.8
conda create -n sopedex python=3.8
conda activate sopedex
  • IsaacGym (tested with Preview Release 3/4 and Preview Release 4/4). Follow the instruction to download the package.
tar -xvf IsaacGym_Preview_4_Package.tar.gz
cd isaacgym/python
pip install -e .
(test installation) python examples/joint_monkey.py
  • Singulating Object in Packed Environment
git clone https://github.com/Msornerrrr/sope-dex.git
cd sope-dex
pip install -e .
  • Test your installation using this code.
cd dexteroushandenvs/
bash scripts/experiment.sh
  • Trained checkpoint. Download from Link.

Training

To train the model, run this line in dexteroushandenvs folder:

bash scripts/train.sh

The trained model will be saved to logs folder

Testing

To load a trained model and only perform inference (no training)

bash scripts/test.sh

you can specify which trained model to use by changing --model_dir to use the corresponding path.

Troubleshoot

If failed, you can try to add the path to your isaacgym python library at the start of the train.py file

sys.path.append('/home/$USER/isaacgym_project/isaacgym/python')

(change the path according to the location of isaacgym in your machine)

You can also try to add the following command to your ~/.bashrc file

export LD_LIBRARY_PATH="/home/$USER/miniconda3/envs/sopedex/lib"

(change the path according to the location of sopedex for conda environment in your machine)

If you encounter this error: AttributeError: module 'numpy' has no attribute 'float'. Feel free to make the following modification. Change this line:

def get_axis_params(value, axis_idx, x_value=0., dtype=np.float, n_dims=3):

to the following line:

def get_axis_params(value, axis_idx, x_value=0., dtype=np.float64, n_dims=3):

inside the torch_utils.py file from your installed isaacgym folder.

Acknowledgement

We thank the list of contributors from the Dynamic Handover, Sequential Dexterity, and Bi-DexHands.

Citations

Please cite SOPE DEX if you use this repository in your publications:

@inproceedings{Hao2024SopeDex,
  author = {Hao Jiang and Yuhai Wang and Hanyang Zhou and Daniel Seita},
  title = {{Learning to Singulate Objects in Packed Environments using a Dexterous Hand}},
  booktitle = {International Symposium on Robotics Research (ISRR)},
  year = {2024}
}

License

Licensed under the MIT License