GCULab

Overview

GCU Lab - Additions to IsaacLab Core functionality for Pack task.

Pack Task - Packing environment.

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Key Features

Pack Task

Packing gym environment for the Amazon task.

Command:

python scripts/test_placement_agent.py --task=Isaac-Pack-NoArm-v0 --num_envs 5

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IK Reachability Analysis

Requires curobo (Installation Instructions).

Command:

python scripts/ik_reachability_agent.py --task=Isaac-Pack-UR5-v0 --num_envs 1

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Installation

Step 1: Install Isaac Lab

Follow the installation guide. We recommend using the conda installation as it simplifies calling Python scripts from the terminal.

Step 2: Clone or Copy This Repository

Ensure this project/repository is separate from the Isaac Lab installation (i.e., outside the IsaacLab directory).

Step 3: Install the Library in Editable Mode

Using a Python interpreter with Isaac Lab installed, run:

# Use 'PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python -m pip install -e source/tote_consolidation
python -m pip install -e source/gculab
python -m pip install -e source/gculab_assets

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Running Tasks with Dummy Agents

These include dummy agents that output zero or random actions. They are useful for verifying environment configurations.

Zero-Action Agent

Command:

# Use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python scripts/zero_agent.py --task=<TASK_NAME>

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Random-Action Agent

Command:

# Use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python scripts/random_agent.py --task=<TASK_NAME>

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Test Placement Agent

Command:

# Use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
python scripts/test_placement_agent.py --task=Isaac-Pack-NoArm-v0 --num_envs 5

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Code Formatting

We use a pre-commit template to automatically format your code.

Installation

Install pre-commit with:

pip install pre-commit

Running Pre-Commit

Run pre-commit for all files:

pre-commit run --all-files