Link Search Menu Expand Document
gym2real

Gym2Real_isaacgym

https://github.com/kevinh42/gym2real_isaacgym

This repo provides a custom task to be used with Isaac Gym as well as scripts for training and exporting models.

Requirements

  • Nvidia GPU with 470+ drivers (nvidia-smi to make sure these are set up)
  • Isaac Gym (tested with version 1.0.preview3)
  • IsaacGymEnvs (tested with commit 9656bac7e59b96382d2c5040b90d2ea5c227d56d)

Isaac Gym Setup

  • Download Isaac Gym from Nvidia’s developer portal: https://developer.nvidia.com/isaac-gym
  • cd isaacgym/python && pip install -e . to install Python package
  • More detailed installation guide in: isaacgym/docs/install.html

IsaacGymEnvs Setup

  • git clone https://github.com/NVIDIA-Omniverse/IsaacGymEnvs (tested with commit 9656bac7e59b96382d2c5040b90d2ea5c227d56d)
  • cd IsaacGymEnvs && pip install -e . to install Python package

Repo Structure

  • train.py: Main script used for training/testing models
  • export.py: Script for exporting models as ONNX files
  • cfg/task/: YAML configs for each task defining environment parameters and domain randomization
  • cfg/train/: YAML configs for each task defining RL model and hyperparameters
  • tasks/: Class definitions and assets for each task
  • runs/: Model checkpoints and summaries will be saved here

IsaacGymEnvs

This repo was designed to be used after installing IsaacGymEnvs (https://github.com/NVIDIA-Omniverse/IsaacGymEnvs) as a Python library. IsaacGymEnvs comes close to being usable as a library, but requires adding your custom task to a map.

The following files are taken from IsaacGymEnvs and modified so that this isn’t necessary:

  • cfg/config.yaml (minimal changes)
  • utils/rlgames_utils.py (minimal changes)
  • base/vec_task.py (minimal changes)
  • train.py

Instead of looking for tasks in a static map, this code uses pydoc.locate to dynamically load the task class.