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General

This repo contains the implementation of ExoMy in Isaac Gym Preview 3 made by Group 666 (Spring 2022)

The setup specifically trains ExoMy to navigate in an unstructured Mars environment.

space_rover

Training

https://user-images.githubusercontent.com/10414639/191824917-84412e61-6f6e-46e4-aaa1-2c7245a8e16c.mp4

Testing

https://user-images.githubusercontent.com/10414639/191824209-99b48773-32ee-4453-b3c9-88b8f5be6240.mp4

Useful commands

Commands

Install isaac-rover-mars-gym

<!---<details><summary>Docker (click to expand)</summary>--->

Requirements

Dependencies

# Docker
curl https://get.docker.com | sh \
&& sudo systemctl --now enable docker

# Setting up NVIDIA Container Toolkit
distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
 && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
 && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
# Install the nvidia-docker2 package (and dependencies) after updating the package listing:
sudo apt-get update
sudo apt-get install -y nvidia-docker2
# Restart the Docker daemon to complete the installation after setting the default runtime:
sudo systemctl restart docker

1. Download Isaac Gym

  1. Download Isaac Gym from https://developer.nvidia.com/isaac-gym
  2. Unzip Isaac Gym
<!-- 3. nano isaacgym/docker/run.sh 4. Remove all text and paste ``` #!/bin/bash set -e set -u if [ $# -eq 0 ] then echo "running docker without display" docker run -it --network=host --gpus=all --name=isaacgym_container isaacgym /bin/bash else export DISPLAY=$DISPLAY echo "setting display to $DISPLAY" xhost + docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY --network=host --gpus=all --name=isaacgym_container isaacgym /bin/bash xhost - fi ```-->
  1. nano isaacgym/docker/Dockerfile
  2. Insert the follwing code at the bottom of the file and save.
RUN git clone https://github.com/AAU-RoboticsAutomationGroup/isaac_rover_mars_gym.git /home/gymuser/isaac_rover_mars_gym
RUN pip3 install -e /home/gymuser/isaac_rover_mars_gym/.
RUN git clone https://github.com/Toni-SM/skrl.git /home/gymuser/skrl
RUN pip3 install -e /home/gymuser/skrl/.
WORKDIR /home/gymuser/isaac_rover_mars_gym
<!---#7. sudo groupadd docker #8. sudo gpasswd -a $USER docker #9. restart PC-->
  1. bash docker/build.sh
  2. docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY --network=host --gpus=all --name=isaacgym_exomy_container isaacgym /bin/bash #11. bash docker/run.sh DISPLAYPORT
  3. Enter container from different terminals --- sudo docker exec -it isaacgym_container bash
<!---</details>--->

2. Run Isaac Gym

  1. cd isaacgymenvs
  2. python train.py

RL Architecture

rl_architecture

actor_network

Other questions

For other questions, contact