RL4RobotGrasping

Demo directory

Videos of behaviours observed during expermientation can be found here and here

Install

Prerequisites

• Ubuntu 18.04 or 20.04.
• Python 3.6, 3.7 or 3.8.
• Minimum recommended NVIDIA driver version:
  • Linux: 470

NVidia Isaac Gym

Download Isaac gym preview 3 from their website: https://developer.nvidia.com/isaac-gym

Install in a new conda environment

In the root directory, run:

./create_conda_env_rlgpu.sh

This will create a new conda env called rlgpu, which you can activate by running:

conda activate rlgpu

Uninstall conda enviroment

To uninstall, run:

conda remove --name rlgpu --all

For troubleshooting the Isaac gym install refer to the docs folder in Isaac Gym

Install Isaac gym enviroments

Clone/Download the IsaacGymEnv repo(https://github.com/NVIDIA-Omniverse/IsaacGymEnvs):

git clone https://github.com/NVIDIA-Omniverse/IsaacGymEnvs
cd IsaacGymEnvs

To install:

pip install -e .

SKRL - Reinforcement Learning library

Clone/Download the github repo(https://github.com/Toni-SM/skrl):

git clone https://github.com/Toni-SM/skrl.git
cd skrl

To install:

pip install -e .

Validate install

To validate the install try to run(make sure the conda env rlgpu is active):

python isaacgym_cartpole_test.py