init commit

.gitignore

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+isaacgym
+
+# macOS
+*.DS_Store
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+sdist/
+var/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+.vscode
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+wandb
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+tmp
+log
+
+# video
+*.avi
+
+checkpoints

LICENSE

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+MIT License
+
+Copyright (c) 2023 Cognitive Learning for Vision and Robotics (CLVR) lab @ KAIST
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

MANIFEST.in

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+recursive-include furniture_bench/assets *

README.md

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+# FurnitureBench: Reproducible Real-World Furniture Assembly Benchmark
+
+[**Paper**](http://arxiv.org/abs/2305.12821)
+| [**Website**](https://clvrai.com/furniture-bench/)
+| [**Documentation**](https://clvrai.github.io/furniture-bench/docs/index.html)
+
+![FurnitureBench](furniture_bench_banner.jpg)
+
+FurnitureBench is the real-world furniture assembly benchmark, which aims at providing a reproducible and easy-to-use platform for long-horizon complex robotic manipulation.
+
+It features
+- Long-horizon complex manipulation tasks
+- Standardized environment setup
+- Python-based robot control stack
+- FurnitureSim: a simulated environment
+- Large-scale teleoperation dataset (200+ hours)
+
+Please check out our [website](https://clvrai.com/furniture-bench/) for more details.
+
+
+## FurnitureBench
+
+We elaborate on the real-world environment setup guide and tutorials in our [online document](https://clvrai.github.io/furniture-bench/docs/index.html).
+
+
+## FurnitureSim
+
+FurnitureSim is a simulator based on Isaac Gym. FurnitureSim works on Ubuntu and Python 3.8+. Please refer to [Installing FurnitureSim](https://clvrai.github.io/furniture-bench/docs/getting_started/installing_furniture_sim.html) and [How to Use FurnitureSim](https://clvrai.github.io/furniture-bench/docs/tutorials/furniture_sim.html) for more details about FurnitureSim.
+
+
+## Citation
+
+If you find FurnitureBench useful for your research, please cite this work:
+```
+@inproceedings{heo2023furniturebench,
+    title={FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation},
+    author={Minho Heo and Youngwoon Lee and Doohyun Lee and Joseph J. Lim},
+    booktitle={Robotics: Science and Systems},
+    year={2023}
+}
+```
+
+
+## References
+
+- Polymetis: https://github.com/facebookresearch/polymetis
+- BC: Youngwoon's [robot-learning repo](https://github.com/youngwoon/robot-learning).
+- IQL: https://github.com/ikostrikov/implicit_q_learning
+- R3M: https://github.com/facebookresearch/r3m
+- VIP: https://github.com/facebookresearch/vip
+- Factory: https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/blob/main/docs/factory.md
+- OSC controller references: https://github.com/StanfordVL/perls2 and https://github.com/ARISE-Initiative/robomimic

config/default_config.yaml

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+defaults:
+  - algo@rolf: bc
+  - env: default
+  - _self_
+  - override hydra/hydra_logging: none
+  - override hydra/job_logging: stdout
+
+num_threads: 8
+
+
+env:
+  screen_size: [512, 512]
+  action_repeat: 1
+  absorbing_state: false
+  pixel_ob: false
+  state_ob: true
+  furniture: null
+  record: false
+  use_all_cam: false # Use all camera inputs.
+  randomness: 'low'
+  from_skill: 0
+  skill: -1
+  high_random_idx: 0
+  channel_first: true
+  np_step_out: true
+  id: FurnitureDummy-v0
+  concat_robot_state: true
+
+rolf:
+  reward_scale: 1.0
+  encoder: null
+  finetune_encoder: false
+  device: null
+  image_agmt: false
+  rotation: quaternion # quaternion, or ortho6d (6D representation).
+
+# Training
+seed: 123
+is_train: true
+init_ckpt_path: null
+init_ckpt_pretrained: false
+init_ckpt_dir: "checkpoints/ckpt"
+gpu: null
+device: null
+precision: 32
+
+# Evaluation
+ckpt_num: null
+num_eval: 1
+record_video: true
+record_video_caption: true
+record_demo: false
+
+# Log
+run_prefix: null
+notes: null
+log_root_dir: log
+wandb: false
+wandb_entity: 'clvr'
+wandb_project: 'furniture-bench'
+
+# Hydra
+hydra:
+  output_subdir: null
+  run:
+    dir: .

docker/10_nvidia.json

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+{
+    "file_format_version" : "1.0.0",
+        "ICD" : {
+            "library_path" : "libEGL_nvidia.so.0"
+    }
+}
+