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

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

Last synced: 9 days 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 (almost 2 years ago)
• Last Synced: 2024-08-02T11:22:37.725Z (3 months ago)
• Language: Python
• Size: 56.3 MB
• Stars: 13
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

• 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]