Humanoid Robots in IsaacLab

Installation

Conda Environment

1. Follow the instructions here [https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/pip_installation.html] to install IsaacSim and IsaacLab.

2. Install local versions of required packages by running the command below. This will install our copies of IsaacLab packages from source/.

./isaaclab.sh -i

Docker [Todo]

• still figuring this out since robovision seems to be having issues
• running in docker will allow visualization streaming, but this is probably not necessary yet

Run Training

Set Up wandb

1. Make an account at https://wandb.ai/site
2. Set the environment variable to enable wandb for logging. (NOTE: the field listed in User > username is not the username. The true username is listed in User > Teams)

export WANDB_USERNAME=<user-name>

3. Follow the link printed in the terminal to view runs.

Set Visible Devices Environment Variable

Choose an unused GPU. Please don't take too many at a time.

export CUDA_VISIBLE_DEVICES=<gpu id>

Run Training

For baseline funcitonality with rsl_rl

./isaaclab.sh -p scripts/rsl_rl/train.py \
    --task T1-Baseline-v0 \
    --headless \
    --video

Play a Policy

Using IsaacSim

The following command will take you through the steps of pulling a policy from wandb and playing it in a single environment. If running on a lab server, use the --headless --video flags.

./isaaclab.sh -p scripts/rsl_rl/play.py \
    --task T1-Baseline-Play-v0 \
    --num_envs 1 \
    --wandb \
    --headless \
    --video 

Using Booster-provided Simulation [Todo]

[https://booster.feishu.cn/wiki/XY6Kwrq1bizif4kq7X9c14twnle]

Committing to This Repo

Changes cannot be made directory to main by non-admins. Instead, make changes on a feature branch and make a pull request.

This repo is configured with a format check, which PRs must pass.

Install code formatter and linter: pip install black ruff.

Run code formatter on source and script directories:

black source scripts

Run linter on source and script directories:

ruff check --fix source scripts