This repository provides necessary wrappers & pipeline scripts for collecting data and training imitation learning (IL) agents in the OmniGibson environment under the robomimic framework.
Preliminary: Conda, Issac Sim platform
For installation of OmniGibson and robomimic, installing from source is highly recommended.
If you encounter an error when installing egl_probe, please install this library from source, instead of from pypi.
git clone https://github.com/StanfordVL/OmniGibson.git
cd OmniGibson
source setup_conda_env.sh
conda activate omnigibson
OMNIGIBSON_NO_OMNIVERSE=1 python omnigibson/scripts/setup.py
git clone https://github.com/ARISE-Initiative/robomimic.git
cd robomimic
pip install -e .
git clone https://github.com/mj-hwang/Omnimimic.git
cd Omnimimic
pip install .
And change the ROOT_DIR
variable in utils/macros.py
to match the directory Omnimimic is cloned to.
Distilling MOMA project uses this repository