# RoboTwin Code Generation
Branch: [gpt](https://github.com/TianxingChen/RoboTwin/tree/gpt) | <a href="https://hits.seeyoufarm.com"><img src="https://hits.seeyoufarm.com/api/count/incr/badge.svg?url=https%3A%2F%2Fgithub.com%2FTianxingChen%2FRoboTwin&count_bg=%23184FFF&title_bg=%23E116E5&icon=&icon_color=%23E7E7E7&title=Repo+Viewers&edge_flat=true"/></a>

## Installation
> **Notice**: the model files of this branch are different from the main branch, which have different kinds of objects information !!!

Refer to [INSTALLATION.md](./INSTALLATION.md) for installation instructions. It takes approximately 20 minutes to complete the installation.

## Configure LLM API Key

Please configure the necessary API keys in the `./gpt_api/gpt_agent.py` file. Additionally, if the LLM you are utilizing does not support integration with the OpenAI API, you may need to make corresponding adjustments to the `generate()` function.

## Generate Your Task Code

### 1. **Add Task Description**
   
Add new task information, including the task name and natural language description, in `./gpt_api/task_info.py`.

### 2. **Add Basic Task Code**
   
Add the basic code file `${task_name}.py` in the `./envs/` directory, following the file structure as shown in [BASIC_TASK_FILE](./envs/README.md).

### 3. **Add Task Scene File**
   
   Add the scene configuration file `${task_name}.json` in the `./task_config/scene_info/` directory, following the file structure as shown in [SCENE_CONFIG](./task_config/scene_info/README.md).

### 4. **Generate the Final Code**

Run the following script to generate task code:
```bash
python task_generation.py ${task_name}
```
The generated code file will be `./envs/gpt_${task_name}.py`. For example:
```bash
python task_generation.py apple_cabinet_storage
```
The generated code file will be `./envs/gpt_apple_cabinet_storage.py`
   
### 5. **Collect Data**
   
Run the script:
```bash
bash run_task.sh ${task_name} {gpu_id}
```
To collect expert data for the relevant tasks, where `${task_name}` corresponds to the task file name in the `./envs/` directory. For example:
```bash
bash run_task.sh gpt_apple_cabinet_storage 0
```
See [TASK_CONFIG](./task_config/README.md) for data collection configurations.

## Directory Structure
```
.
├── aloha_maniskill_sim            Robot URDF and SRDF files
├── Code-generator Document.md
├── data                           Directory for expert data collection
├── envs
│   ├── base_task.py               Base class for tasks
│   ├── TASK_NAME.py               Task scene generation and success determination
│   ├── gpt_TASK_NAME.py           Code file generated for the task
│   └── utils
├── gpt_api
│   ├── gpt_agent.py                
│   ├── __init__.py
│   ├── prompt.py
│   └── task_info.py               Task information
├── models
│   ├── MODEL_FILE                 Digital asset files
│   │   ├── base{id}.glb           Model files
│   │   └── model_data{id}.json    Model calibration data files
│   ├── ...
│   └── models.py
├── run_task.sh                    Script to run tasks
├── task_config
│   ├── scene_info                 Directory for each task scene data
│   ├── seeds                      Directory for random seeds of expert data for each task
│   ├── TASK_NAME.yml              Task data collection parameters
│   └── ...
├── task_generation.py             Code generation script for tasks
└── ...
```