ExoMy in Isaac Gym
Training ExoMy to navigate in an unstructured Mars environment
Install isaac-rover-mars-gym
Requirements
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Ubuntu 18.04, or 20.04.
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Python 3.6, 3.7, or 3.8
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Minimum recommended NVIDIA driver version: 470.74 (470 or above required)
Dependencies
# Dockercurl https://get.docker.com | sh \&& sudo systemctl --now enable docker
# Setting up NVIDIA Container Toolkitdistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \ && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list# Install the nvidia-docker2 package (and dependencies) after updating the package listing:sudo apt-get updatesudo apt-get install -y nvidia-docker2# Restart the Docker daemon to complete the installation after setting the default runtime:sudo systemctl restart docker
1. Download Isaac Gym
- Download Isaac Gym from https://developer.nvidia.com/isaac-gym
- Unzip Isaac Gym
- nano isaacgym/docker/Dockerfile
- Insert the follwing code at the bottom of the file and save.
RUN git clone https://github.com/AAU-RoboticsAutomationGroup/isaac_rover_mars_gym.git /home/gymuser/isaac_rover_mars_gymRUN pip3 install -e /home/gymuser/isaac_rover_mars_gym/.RUN git clone https://github.com/Toni-SM/skrl.git /home/gymuser/skrlRUN pip3 install -e /home/gymuser/skrl/.WORKDIR /home/gymuser/isaac_rover_mars_gym
- bash docker/build.sh
- docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY —network=host —gpus=all —name=isaacgym_exomy_container isaacgym /bin/bash #11. bash docker/run.sh DISPLAYPORT
- Enter container from different terminals --- sudo docker exec -it isaacgym_container bash
2. Run Isaac Gym
- cd isaacgymenvs
- python train.py