Readme.md

The library aims to conduct experiments and DRL training with mobile robots in a realistic environment using standard libraries such as OpenAi Gym, Pytorch, Isaac Sim extensions, and SB3 in a unified and ready-to-use framework. Furthermore, the library is easy to use, configure, and customize all different robots, sensors, environments, and methods that allow and facilitate research in AI-based mobile robots using Isaac Sim, speeding up time-consuming steps for training expert agents.

Features

Environments (scenes)

• Three different flat grids (normal, black and curved).
• A simple, tiny room with a table at the center.
• Four whorehouse of different sizes and obstacles.
• One floor of a hospital building.
• One floor of an office building.
• A custom random obstacle map.

Robots

• Jetbot (differential).
• Carter V1 (differential).
• Transporter (differential).
• Kaya (holonomic).

Sensors

• Wheel lineal velocity sensor (encoder).
• Robot’s base lineal velocity sensor (3d velocity magnitude).
• Robot’s base angular velocity (of the yaw angle).
• Customizable RGB camera
• Customizable depth camera
• Customizable Lidar (range sensor).

Others

• General methods to control and mesure the robot joints and sensors.
• Example.

How to install

Requirements

Open a terminal and run the following commands:

To train

1. cd ~/.local/share/ov/pkg/isaac_sim-2021.2.1/DRL_Isaac_lib/
2. ~/.local/share/ov/pkg/isaac_sim-2021.2.1/python.sh train_d.py

To view tensorboard

• ~/.local/share/ov/pkg/isaac_sim-2021.2.1/python.sh ~/.local/share/ov/pkg/isaac_sim-2021.2.1/tensorboard --logdir ./

To Watch nvidia-smi in real time

• watch -n0.1 nvidia-smi

Example

Three files to train a DQN agent are included to illustrate the usage of the library. These are:

• env.py
• train.py
• eval.py

The differential robot used is a jetbot. The scene is a random obstacle generator. The goal is to achieve an end position by avoiding different obstacles by utilizing a set of discrete actions.

class Isaac_envs(gym.Env):
    metadata = {"render.modes": ["human"]}

    ## ...

        from isaac_robots  import isaac_robot
        from isaac_envs    import isaac_envs  
        from omni.isaac.core.objects import VisualCuboid

        env_name    = "random_walk"
        robot_name  = "jetbot"
        action_type = "discrete"

    ## ...

If you want to change the robot, scene, or action type, modify the following parameters:

env_name =

• "grid_default"
• "grid_black"
• "grid_curved"
• "simple_room"
• "warehause_small_A"
• "warehause_small_B"
• "warehause_small_C"
• "warehause_full"
• "hospital"
• "office"
• "random_walk"

robot_name =

• "jetbot"
• "carter_v1"
• "kaya"
• "transporter"

action_type =

• "continuous"
• "discrete"

To fast obtain the observation of the environment, the methods created in this work are used:

def get_observations(self):
        ## Camera Data
        # rgb_data   = self.isaac_environments._get_cam_data(type="rgb") ## Custom method
        depth_data = self.isaac_environments._get_cam_data(type="depth") ## Custom method

        ## Lidar Data
        lidar_data = self.isaac_environments._get_lidar_data() ## Custom method
        # for transporter uncomment the next line
        # lidar_data2 = self.isaac_environments._get_lidar_data(lidar_selector=2) ## Custom method

        ## Distance and angular differencess
        goal_world_position, _        = self.goal.get_world_pose()
        d                             = self.robot.distance_to(goal_world_position) ## Custom method
        angle                         = self.robot.angular_difference_to(goal_world_position) ## Custom method
        target_relative_to_robot_data = np.array([ d, angle ])

        ## Robot base's velocities
        real_V = self.robot.get_lineal_vel_base() ## Custom method
        real_W = self.robot.get_angular_vel_base() ## Custom method

        vase_vel_data = np.array([ real_V, real_W])

        obs = {"IR_raleted" : lidar_data, "pos_raleted" : target_relative_to_robot_data, "vel_raleted" : vase_vel_data} 

The reward function used is:

$$\begin{linenomath} \begin{align} \label{eqn:reward} r = \left{\begin{array}{lll} -d_{t} \left ( 1 - \frac{stepi}{step{max}} \right ) &; \text{if goal isn't achieved} \ -p &; \text{if robot collides with the obstacle}\ r_{l} \left ( 1 - \frac{stepi}{step{max}} \right ) &; \text{if robot achieves goal} \end{array}\right. \end{align} \end{linenomath}$$

After 3.000.000 steps, the results are:

An evaluation of 30 episodes was made to extract some useful information about the quality of the learned policy $\pi$, the result presented in the next table.