README_bak.md

Welcome to the official repository of BestMan, a mobile manipulator simulator (with a wheel-base and arm) built on PyBullet.

💻 Installation

• Pull the repository and update the submodule

git clone https://github.com/AutonoBot-Lab/BestMan_Pybullet.git -b refactor
cd BestMan_Pybullet
git submodule init
git submodule update

☘️ Conda

First install Anaconda or minconda on linux system and then perform the following steps：

• Run the following script to add the project to the PYTHON search path

cd Install
sudo bash pythonpath.sh
source ~/.bashrc

• Install shared file (If it already exists, skip this step.)

sudo apt update && sudo apt install -y libgl1-mesa-glx libglib2.0-0
sudo mkdir /usr/lib/dri
sudo ln -s /lib/x86_64-linux-gnu/dri/swrast_dri.so /usr/lib/dri/swrast_dri.so

• Install gcc/g++ 9 (If it already exists, skip this step.)

sudo apt install -y build-essential gcc-9 g++-9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 9
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 9
sudo update-alternatives --config gcc  # choice gcc-9
sudo update-alternatives --config g++  # choice g++-9

# Make sure gcc and g++ versions are consistent
gcc -v
g++ -v

• Configure mamba to speed up the conda environment construction

# Install conda-libmamba-solver
conda install -n base conda-libmamba-solver
conda config --set solver libmamba

# Install mamba
conda install mamba -n base -c conda-forge

• Create conda environment

mamba env create -f basic_environment.yaml
mamba activate BestMan

# Install torch
mamba env update -f cuda116.yaml

# Install MinkowskiEngine
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps --global-option="--blas_include_dirs=${CONDA_PREFIX}/include" --global-option="--blas=openblas"

# Install lang-segment-anything
pip install -U git+https://github.com/luca-medeiros/lang-segment-anything.git

# Install pointnet2
cd third_party/pointnet2
python setup.py install

☘️ Docker

Windows

• Pull docker image from tencentyun

docker pull ccr.ccs.tencentyun.com/4090/bestman:v1

• Create docker container

docker run -it --gpus all --name BestMan ccr.ccs.tencentyun.com/4090/bestman:v1

• Install VcXsrv Windows X Server, Start and keep running in the background.

• Execute echo $DISPLAY inside the container, Make sure the result is host.docker.internal:0 so that it can be visualized on the host machine, if not:

export DISPLAY=host.docker.internal:0

Linux

• TBD

🔎 Project Structure

cat Asset/project_structure.txt

👨‍💻 Basic Demos

☘️ Load Kitchens

python Examples/load_kitchen.py

☘️ Navigation

python Examples/navigation_basic.py

☘️ Manipulation

python Examples/grasp_bowl_in_kitchen.py

python Examples/grasp_bowl_from_drawer_in_kitchen.py

📘 Documents

☘️ APIs_in_utils.txt: A detailed list of common functions used in the utility scripts

🤝 Reference

If you find this work useful, please consider citing:

@inproceedings{ding2023task,
  title={Task and motion planning with large language models for object rearrangement},
  author={Ding, Yan and Zhang, Xiaohan and Paxton, Chris and Zhang, Shiqi},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={2086--2092},
  year={2023},
  organization={IEEE}
}

@article{ding2023integrating,
  title={Integrating action knowledge and LLMs for task planning and situation handling in open worlds},
  author={Ding, Yan and Zhang, Xiaohan and Amiri, Saeid and Cao, Nieqing and Yang, Hao and Kaminski, Andy and Esselink, Chad and Zhang, Shiqi},
  journal={Autonomous Robots},
  volume={47},
  number={8},
  pages={981--997},
  year={2023},
  publisher={Springer}
}