Installation
Details regarding installation of IsaacGym can be found here. It is suggested to create a conda environment following the instruction in IsaacGym documentation.
After activating the conda environment, in the AsymDex root directory, pip install -e .
in the Isaac Gym Release python folder, pip install -e .
Running
cd ./bidexhands
Training AsymDex policy:
python train.py --task=AllegroHandDualArmGraspAndPlaceAsymDex --algo=ppo --bimanual_action
python train.py --task=AllegroHandDualArmGraspAndPlaceAsymDex --algo=ppo --bimanual_action --num_envs=2048 --headless
Rollout the trained AsymDex policy:
python train.py --task=AllegroHandDualArmGraspAndPlaceAsymDex --algo=ppo --bimanual_action --test --model_dir=./logs/AllegroHandDualArmGraspAndPlaceAsymDex/ppo/ppo_seed-1/model_best.pt