{"id":38703988,"url":"https://github.com/enactic/openarm_maniskill_simulation","last_synced_at":"2026-01-17T10:53:56.900Z","repository":{"id":307817859,"uuid":"1027555864","full_name":"enactic/openarm_maniskill_simulation","owner":"enactic","description":"OpenArm Maniskill Simulation","archived":false,"fork":false,"pushed_at":"2025-08-02T10:59:54.000Z","size":17659,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-08-02T12:34:52.431Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/enactic.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-07-28T07:29:15.000Z","updated_at":"2025-08-02T10:59:57.000Z","dependencies_parsed_at":"2025-08-02T12:45:02.644Z","dependency_job_id":null,"html_url":"https://github.com/enactic/openarm_maniskill_simulation","commit_stats":null,"previous_names":["enactic/openarm_maniskill_simulation"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/enactic/openarm_maniskill_simulation","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fopenarm_maniskill_simulation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fopenarm_maniskill_simulation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fopenarm_maniskill_simulation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fopenarm_maniskill_simulation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/enactic","download_url":"https://codeload.github.com/enactic/openarm_maniskill_simulation/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/enactic%2Fopenarm_maniskill_simulation/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28506593,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-17T10:25:30.148Z","status":"ssl_error","status_checked_at":"2026-01-17T10:25:29.718Z","response_time":85,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-01-17T10:53:56.806Z","updated_at":"2026-01-17T10:53:56.885Z","avatar_url":"https://github.com/enactic.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"## Installation Guide\n\n### Specification\nThis repository has been tested on Ubuntu 22.04.\nWe do not guarantee that it will work on other platforms.\n\n### Install ManiSkill\nThe required versions are:\n\n* **ManiSKill v3.0.0b21**\n\nFrom this point on, it is assumed that you have created a virtual environment named `env_maniskill` using miniconda or anaconda and will be working within that environment.\n\nPlease refer to the [official](https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html) page for the installation method of ManiSkill.  \nHere, we provide a sample installation procedure.\n\n1. Create virtual environment  \n```bash\nconda create -n env_maniskill python=3.11\n```\n2. Activate your virtual env\n```bash\nconda activate env_maniskill\n```\n3. Install libvulkan\n```bash\nsudo apt-get install libvulkan1\n```\n4. Clone Maniskill git at your HOME directory\n```bash\ncd ~\ngit clone https://github.com/haosulab/ManiSkill.git\n```\n\n5. Install Maniskill\n```bash\ncd ManiSkill \u0026\u0026 pip install -e .\npip install torch torchvision torchaudio tensorboard wandb\n```\n\n6. Install OpenArm pick up task\n```bash\ncd ~\ngit clone https://github.com/enactic/openarm_maniskill_simulation.git\n# copy openarm assets\ncp -r ~/openarm_maniskill_simulation/urdf ~/ManiSkill/mani_skill/assets/robots/openarm\n\n# copy agents(robot)\ncp ~/openarm_maniskill_simulation/mani_skill/agents/robots/__init__.py ~/ManiSkill/mani_skill/agents/robots\ncp -r ~/openarm_maniskill_simulation/mani_skill/agents/robots/openarm ~/ManiSkill/mani_skill/agents/robots\n\n# copy task files\ncp ~/openarm_maniskill_simulation//mani_skill/envs/tasks/tabletop/pick_cube.py ~/ManiSkill/mani_skill/envs/tasks/tabletop\ncp ~/openarm_maniskill_simulation//mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py ~/ManiSkill/mani_skill/envs/tasks/tabletop\ncp ~/openarm_maniskill_simulation//mani_skill/envs/tasks/tabletop/pull_cube.py ~/ManiSkill/mani_skill/envs/tasks/tabletop\ncp ~/openarm_maniskill_simulation//mani_skill/envs/tasks/tabletop/push_cube.py ~/ManiSkill/mani_skill/envs/tasks/tabletop\n``` \n\n### Run Training\nYou can run different tasks.\nReplace \u003cTASK_NAME\u003e with one of the following available tasks:\n\n\n| Task Description        | Task Name                      |  Demo                               |\n| ----------------------- | ------------------------------ | ----------------------------------- | \n| Push the cube to the center of the target.　| `PushCube-v1` | \u003cimg src=\"images/push_cube.gif\" width=250px\u003e|\n| Pull the cube to the cente of the target. | `PullCube-v1` |  \u003cimg src=\"images/pull_cube.gif\" width=250px\u003e |\n| Pick up the cube and move it to the target position.　| `PickCube-v1` |  \u003cimg src=\"images/pick_cube.gif\" width=250px\u003e |\n\n\n```bash\ncd ~/ManiSkill/examples/baselines/ppo/\npython ppo.py \\\n\t--env_id=\u003cTask Name\u003e \\\n\t--exp-name=\u003cTask Name\u003e \\\n\t--num_envs=1024 \\\n\t--total_timesteps=12_000_000 \\\n\t--eval_freq=10 \\\n\t--num-steps=20 \\\n\t--num_eval_envs 8\n```\nIf you want to manage training logs with [Weights \u0026 Biases](https://wandb.ai/site/), please run the following.\n```bash\nexport WANDB_API_KEY=`your wandb api key`\ncd ~/ManiSkill/examples/baselines/ppo/\npython ppo.py \\\n\t--env_id=\u003cTask Name\u003e \\\n\t--exp-name=\u003cTask Name\u003e \\\n\t--num_envs=1024 \\\n\t--total_timesteps=12_000_000 \\\n\t--eval_freq=10 \\\n\t--num-steps=20 \\\n    --track \\\n\t--wandb_project_name `your wandb project name` \\\n\t--exp-name `your wandb experiment name` \\\n\t--num_eval_envs 8\n```\n\n### Run evaluate\nHow to evaluate a trained model.\n```bash\ncd ~/ManiSkill/examples/baselines/ppo/\npython ppo.py \\\n       --env_id=\u003cTask Name\u003e \\\n       --evaluate \\\n       --checkpoint `your training model path`\n       --exp-name=\u003cTask Name\u003e \\\n       --num_eval_envs=1\n```\n```\nRunning evaluation\n####\nargs.num_iterations=390 args.num_envs=512 args.num_eval_envs=1\nargs.minibatch_size=800 args.batch_size=25600 args.update_epochs=4\n####\nEpoch: 1, global_step=0\nEvaluating\nEvaluated 50 steps resulting in 1 episodes\neval_success_once_mean=1.0\neval_return_mean=39.73570251464844\neval_episode_len_mean=50.0\neval_reward_mean=0.7947140336036682\neval_success_at_end_mean=1.0\n```\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fopenarm_maniskill_simulation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fenactic%2Fopenarm_maniskill_simulation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fenactic%2Fopenarm_maniskill_simulation/lists"}