Ecosyste.ms: Awesome

An open API service indexing awesome lists of open source software.

https://github.com/AAU-RoboticsAutomationGroup/isaac_rover_mars_gym

Last synced: 3 months ago
JSON representation

Host: GitHub
URL: https://github.com/AAU-RoboticsAutomationGroup/isaac_rover_mars_gym
Owner: AAU-RoboticsAutomationGroup
Created: 2022-03-21T17:18:16.000Z (over 2 years ago)
Default Branch: main
Last Pushed: 2022-11-24T11:38:19.000Z (over 1 year ago)
Last Synced: 2024-01-19T06:16:05.762Z (5 months ago)
Language: Python
Size: 56.3 MB
Stars: 11
Watchers: 1
Forks: 1
Open Issues: 0
Metadata Files:
- Readme: README.md

Lists

awesome-isaac-gym - isaac_rover_mars_gym

README

# 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](https://user-images.githubusercontent.com/10414639/191826045-a9c50712-2d81-4dd1-91fe-7e0dc1a5123d.png)

**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](docs/Commands.md)

# Install isaac-rover-mars-gym

### Requirements

- Ubuntu 18.04, or 20.04.
- Python 3.6, 3.7, or 3.8
- Minimum recommended NVIDIA driver version: 470.74 (470 or above required)

### Dependencies
```bash
# 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/Dockerfile
4. 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

```

5. bash docker/build.sh
6. 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
7. Enter container from different terminals --- sudo docker exec -it isaacgym_container bash

### 2. Run Isaac Gym
1. cd isaacgymenvs
2. python train.py

# RL Architecture

![rl_architecture](https://user-images.githubusercontent.com/10414639/191829922-0eb13701-f459-4f76-b972-9ac8f095d184.png)

![actor_network](https://user-images.githubusercontent.com/10414639/191830043-5c3ccf35-4297-4219-8d19-ce54e9d02a1e.png)

# Other questions
For other questions, contact

- Anton: [email protected]
- Emil: [email protected]
- Jacob: [email protected]