Articulated Object Manipulation
Environment setup
conda create -n mani-skill2 python=3.7;
conda activate mani-skill2;
pip install mani-skill2 stable_baselines3 chardet tensorboard wandb;
conda install pytorch==1.13.1 torchvision==0.14.1 torchaudio==0.13.1 pytorch-cuda=11.6 -c pytorch -c nvidia;
Data setup
python -m mani_skill2.utils.download_asset all
Relevant environments
- OpenCabinetDoor-v1: 42 training cabinets, 10 test cabinets
- OpenCabinetDrawer-v1: 25 training cabinets, 10 test cabinets
- TurnFaucet-v0: 60 training faucets, 18 test faucets