Bitbots Gym Environment

Installation

Download the Isaac Gym Preview 4 release from the website, then follow the installation instructions in the documentation.

git clone https://github.com/Barath19/robotlearning-2024.git
cd robotlearning-2024.git
pip install -e .

Training

python train.py task=KinovaCabinet 

Testing

To load a trained checkpoint and only perform inference (no training), pass test=True as an argument, along with the checkpoint name. To avoid rendering overhead, you may also want to run with fewer environments using num_envs=64:

python train.py task=KinovaCabinet checkpoint=kinovacabinet.pth test=True num_envs=64