This repository contains a motion control simulation of AgileX Hunter SE robot in Nvidia's Isaac Sim using Deep Reinforcement Learning. If you would be referencing this project, please ensure to cite the following paper
Mehta, Dhruv & Salvi, Ameya & Kosaraju, Krishna & Krovi, Venkat. (2023). Agile Off-Road Terrain Traversal of an Ackermann Steered Platform using Deep Reinforcement Learning ⋆. 10.13140/RG.2.2.33081.95845.
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.gitOnce 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.