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cwjwudi / OmniIsaacGymEnvs-Cassie

This is a clone of OmniIsaacGymEnvs, and it is used for my rl env test.
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Add bipped robot Cassie in OmniIsaacGymEnvs

This work is based on OmniIsaacGymEnvs and legged_gym. If you want to try cassie train, please specify task parameters as Cassie.

I imported the URDF file of Cassie located in legged_gym into USD according to tutorial How to Import Your Robot Into Isaac Sim in NVIDIA Omniverse.

Omniverse Isaac Gym Reinforcement Learning Environments for Isaac Sim

About this repository

This repository contains Reinforcement Learning examples that can be run with the latest release of Isaac Sim. RL examples are trained using PPO from rl_games library and examples are built on top of Isaac Sim's omni.isaac.core and omni.isaac.gym frameworks.

Please see release notes for the latest updates.

 

 

 

 

 

Installation

Follow the Isaac Sim documentation to install the latest Isaac Sim release.

Examples in this repository rely on features from the most recent Isaac Sim release. Please make sure to update any existing Isaac Sim build to the latest release version, 2022.2.1, to ensure examples work as expected.

Once installed, this repository can be used as a python module, omniisaacgymenvs, with the python executable provided in Isaac Sim.

To install omniisaacgymenvs, first clone this repository:

git clone https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs.git

Once cloned, locate the python executable in Isaac Sim. By default, this should be python.sh. We will refer to this path as PYTHON_PATH.

To set a PYTHON_PATH variable in the terminal that links to the python executable, we can run a command that resembles the following. Make sure to update the paths to your local path.

For Linux: alias PYTHON_PATH=~/.local/share/ov/pkg/isaac_sim-*/python.sh
For Windows: doskey PYTHON_PATH=C:\Users\user\AppData\Local\ov\pkg\isaac_sim-*\python.bat $*
For IsaacSim Docker: alias PYTHON_PATH=/isaac-sim/python.sh

Install omniisaacgymenvs as a python module for PYTHON_PATH:

PYTHON_PATH -m pip install -e .

The following error may appear during the initial installation. This error is harmless and can be ignored.

ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts.

Running the examples

Note: All commands should be executed from OmniIsaacGymEnvs/omniisaacgymenvs.

To train your first policy, run:

PYTHON_PATH scripts/rlgames_train.py task=Cartpole

You should see an Isaac Sim window pop up. Once Isaac Sim initialization completes, the Cartpole scene will be constructed and simulation will start running automatically. The process will terminate once training finishes.

Here's another example - Ant locomotion - using the multi-threaded training script:

PYTHON_PATH scripts/rlgames_train_mt.py task=Ant

Note that by default, we show a Viewport window with rendering, which slows down training. You can choose to close the Viewport window during training for better performance. The Viewport window can be re-enabled by selecting Window > Viewport from the top menu bar.

To achieve maximum performance, you can launch training in headless mode as follows:

PYTHON_PATH scripts/rlgames_train.py task=Ant headless=True

A Note on the Startup Time of the Simulation

Some of the examples could take a few minutes to load because the startup time scales based on the number of environments. The startup time will continually be optimized in future releases.

Loading trained models // Checkpoints

Checkpoints are saved in the folder runs/EXPERIMENT_NAME/nn where EXPERIMENT_NAME defaults to the task name, but can also be overridden via the experiment argument.

To load a trained checkpoint and continue training, use the checkpoint argument:

PYTHON_PATH scripts/rlgames_train.py task=Ant checkpoint=runs/Ant/nn/Ant.pth

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_PATH scripts/rlgames_train.py task=Ant checkpoint=runs/Ant/nn/Ant.pth test=True num_envs=64

Note that if there are special characters such as [ or = in the checkpoint names, you will need to escape them and put quotes around the string. For example, checkpoint="runs/Ant/nn/last_Antep\=501rew\[5981.31\].pth"

We provide pre-trained checkpoints on the Nucleus server under Assets/Isaac/2022.2.1/Isaac/Samples/OmniIsaacGymEnvs/Checkpoints. Run the following command to launch inference with pre-trained checkpoint:

Localhost (To set up localhost, please refer to the Isaac Sim installation guide):

PYTHON_PATH scripts/rlgames_train.py task=Ant checkpoint=omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.1/Isaac/Samples/OmniIsaacGymEnvs/Checkpoints/ant.pth test=True num_envs=64

Production server:

PYTHON_PATH scripts/rlgames_train.py task=Ant checkpoint=http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2022.2.1/Isaac/Samples/OmniIsaacGymEnvs/Checkpoints/ant.pth test=True num_envs=64

When running with a pre-trained checkpoint for the first time, we will automatically download the checkpoint file to omniisaacgymenvs/checkpoints. For subsequent runs, we will re-use the file that has already been downloaded, and will not overwrite existing checkpoints with the same name in the checkpoints folder.

Runing from Docker

Latest Isaac Sim Docker image can be found on NGC. A utility script is provided at docker/run_docker.sh to help initialize this repository and launch the Isaac Sim docker container. The script can be run with:

./docker/run_docker.sh

Then, training can be launched from the container with:

/isaac-sim/python.sh scripts/rlgames_train.py headless=True task=Ant

To run the Isaac Sim docker with UI, use the following script:

./docker/run_docker_viewer.sh

Then, training can be launched from the container with:

/isaac-sim/python.sh scripts/rlgames_train.py task=Ant

Livestream

OmniIsaacGymEnvs supports livestream through the Omniverse Streaming Client. To enable this feature, add the commandline argument enable_livestream=True:

PYTHON_PATH scripts/rlgames_train.py task=Ant headless=True enable_livestream=True

Connect from the Omniverse Streaming Client once the SimulationApp has been created. Note that enabling livestream is equivalent to training with the viewer enabled, thus the speed of training/inferencing will decrease compared to running in headless mode.

Training Scripts

All scripts provided in omniisaacgymenvs/scripts can be launched directly with PYTHON_PATH.

To test out a task without RL in the loop, run the random policy script with:

PYTHON_PATH scripts/random_policy.py task=Cartpole

This script will sample random actions from the action space and apply these actions to your task without running any RL policies. Simulation should start automatically after launching the script, and will run indefinitely until terminated.

To run a simple form of PPO from rl_games, use the single-threaded training script:

PYTHON_PATH scripts/rlgames_train.py task=Cartpole

This script creates an instance of the PPO runner in rl_games and automatically launches training and simulation. Once training completes (the total number of iterations have been reached), the script will exit. If running inference with test=True checkpoint=<path/to/checkpoint>, the script will run indefinitely until terminated. Note that this script will have limitations on interaction with the UI.

Lastly, we provide a multi-threaded training script that executes the RL policy on a separate thread than the main thread used for simulation and rendering:

PYTHON_PATH scripts/rlgames_train_mt.py task=Cartpole

This script uses the same RL Games PPO policy as the above, but runs the RL loop on a new thread. Communication between the RL thread and the main thread happens on threaded Queues. Simulation will start automatically, but the script will not exit when training terminates, except when running in headless mode. Simulation will stop when training completes or can be stopped by clicking on the Stop button in the UI. Training can be launched again by clicking on the Play button. Similarly, if running inference with test=True checkpoint=<path/to/checkpoint>, simulation will run until the Stop button is clicked, or the script will run indefinitely until the process is terminated.

Configuration and command line arguments

We use Hydra to manage the config.

Common arguments for the training scripts are:

Hydra also allows setting variables inside config files directly as command line arguments. As an example, to set the minibatch size for a rl_games training run, you can use train.params.config.minibatch_size=64. Similarly, variables in task configs can also be set. For example, task.env.episodeLength=100.

Hydra Notes

Default values for each of these are found in the omniisaacgymenvs/cfg/config.yaml file.

The way that the task and train portions of the config works are through the use of config groups. You can learn more about how these work here The actual configs for task are in omniisaacgymenvs/cfg/task/<TASK>.yaml and for train in omniisaacgymenvs/cfg/train/<TASK>PPO.yaml.

In some places in the config you will find other variables referenced (for example, num_actors: ${....task.env.numEnvs}). Each . represents going one level up in the config hierarchy. This is documented fully here.

Tensorboard

Tensorboard can be launched during training via the following command:

PYTHON_PATH -m tensorboard.main --logdir runs/EXPERIMENT_NAME/summaries

WandB support

You can run (WandB)[https://wandb.ai/] with OmniIsaacGymEnvs by setting wandb_activate=True flag from the command line. You can set the group, name, entity, and project for the run by setting the wandb_group, wandb_name, wandb_entity and wandb_project arguments. Make sure you have WandB installed in the Isaac Sim Python executable with PYTHON_PATH -m pip install wandb before activating.

Training with Multiple GPUs

To train with multiple GPUs, use the following command, where --proc_per_node represents the number of available GPUs:

PYTHON_PATH -m torch.distributed.run --nnodes=1 --nproc_per_node=2 scripts/rlgames_train.py headless=True task=Ant multi_gpu=True

Tasks

Source code for tasks can be found in omniisaacgymenvs/tasks.

Each task follows the frameworks provided in omni.isaac.core and omni.isaac.gym in Isaac Sim.

Refer to docs/framework.md for how to create your own tasks.

Full details on each of the tasks available can be found in the RL examples documentation.

Demo

We provide an interactable demo based on the AnymalTerrain RL example. In this demo, you can click on any of the ANYmals in the scene to go into third-person mode and manually control the robot with your keyboard as follows:

Launch this demo with the following command. Note that this demo limits the maximum number of ANYmals in the scene to 128.

PYTHON_PATH scripts/rlgames_demo.py task=AnymalTerrain num_envs=64 checkpoint=omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.1/Isaac/Samples/OmniIsaacGymEnvs/Checkpoints/anymal_terrain.pth

A note about Force Sensors

Force sensors are supported in Isaac Sim and OIGE via the ArticulationView class. Sensor readings can be retrieved using get_force_sensor_forces() API, as shown in the Ant/Humanoid Locomotion task, as well as in the Ball Balance task. Please note that there is currently a known bug regarding force sensors in Omniverse Physics. Transforms of force sensors (i.e. their local poses) are set in the actor space of the Articulation instead of the body space, which is the expected behaviour. We will be fixing this in the coming release.