Cloth Bag Manipulation Learning

It uses NVIDIA-OmniIsaacGymEnvs which is built on NVIDIA Isaac Sim to simulate the environments used in reinforcement learning.

Getting started

Install NVIDIA-OmniIsaacGymEnvs using the following commands.

git clone https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs.git
cd OmniIsaacGymEnvs
$ISAACSIM_PYTHON_PATH -m pip install -e .

Download the deformable tasks.

git clone https://github.com/harshaguda/cloth-bag-manipulation-learning.git

Run environment

$ISAACSIM_PYTHON_EXE scripts/random_policy.py task=ClothBagAttach num_envs=2

Train

$ISAACSIM_PYTHON_EXE scripts/ppo_trainer_headless.py task=ClothBagAttach num_envs=2

Setting up Isaac Sim on Triton Cluster

Read more instructions about setting up the experiments on cluster here.

Running experiments on cluster, navigate to the folder triton_scripts

sbatch run_experiment.sh experiment_franka_ppo.sh <random_seed>