torobo_isaac_lab

Overview

This repository is an extension project based on Isaac Lab. It allows you to develop in an isolated environment, outside of the core Isaac Lab repository.

If you want to run the trained policy in MuJoCo, please refer to torobo_mujoco.

Installation

• Install Isaac Sim version 4.2.0 by following the installation guide.

• Install Isaac Lab by following the installation guide. We recommend using the conda installation as it simplifies calling Python scripts from the terminal. If you want to install by binary-install, please clone versin 1.2.0 by adding -b v1.2.0.

• Clone the repository separately from the Isaac Lab installation (i.e. outside the IsaacLab directory):

git clone https://github.com/TokyoRobotics/torobo_isaac_lab.git

• Then, using a python interpreter that has Isaac Lab installed, install the library

python -m pip install -e exts/torobo_isaac_lab

• You can verify that the extension is correctly installed by running the following command:

python scripts/rsl_rl/train.py --task=Isaac-Velocity-Flat-Torobo-Leg-v1-v0 --num_envs 4

Set up IDE (Optional)

To setup the IDE, please follow these instructions:

• Run VSCode Tasks, by pressing Ctrl+Shift+P, selecting Tasks: Run Task and running the setup_python_env in the drop down menu. When running this task, you will be prompted to add the absolute path to your Isaac Sim installation.

If everything executes correctly, it should create a file .python.env in the .vscode directory. The file contains the python paths to all the extensions provided by Isaac Sim and Omniverse. This helps in indexing all the python modules for intelligent suggestions while writing code.

Setup as Omniverse Extension (Optional)

We provide an example UI extension that will load upon enabling your extension defined in exts/torobo_isaac_lab/torobo_isaac_lab/ui_extension_example.py. For more information on UI extensions, enable and check out the source code of the omni.isaac.ui_template extension and refer to the introduction on Isaac Sim Workflows 1.2.3. GUI.

To enable your extension, follow these steps:

1. Add the search path of your repository to the extension manager:

   • Navigate to the extension manager using Window -> Extensions.
   • Click on the Hamburger Icon (☰), then go to Settings.
   • In the Extension Search Paths, enter the absolute path to IsaacLabExtensionTemplate/exts
   • If not already present, in the Extension Search Paths, enter the path that leads to Isaac Lab's extension directory directory (IsaacLab/source/extensions)
   • Click on the Hamburger Icon (☰), then click Refresh.

2. Search and enable your extension:

   • Find your extension under the Third Party category.
   • Toggle it to enable your extension.

Example

Leg v1 model bipedal walking (Leg v1 model is now under research and development and is not currently scheduled for sale)

# train
python scripts/rsl_rl/train.py --task=Isaac-Velocity-Flat-Torobo-Leg-v1-v0 --headless

# play
python scripts/rsl_rl/play.py --task=Isaac-Velocity-Flat-Torobo-Leg-v1-Play-v0 --num_envs 4

If you want to play on the specific checkpoint, please execute the following command.

The checkpoint data exists in logs/rsl_rl/torobo_leg_v1_flat/(date)/model_(iteration_num).pt .

python scripts/rsl_rl/play.py --task=Isaac-Velocity-Flat-Torobo-Leg-v1-Play-v0 --num_envs 4 --load_run (date) --checkpoint model_(iteration_num).pt

If you want to resume from the specific checkpoint, please execute the following command.

python scripts/rsl_rl/train.py --task=Isaac-Velocity-Flat-Torobo-Leg-v1-v0 --resume --load_run (date) --checkpoint model_(iteration_num).pt

If you want to extract the trained policy, please play on the specific checkpoint (mode_1000.pt is recommended) and use the policy in logs/rsl_rl/torobo_leg_v1_flat/(date)/exported .

Code formatting

We have a pre-commit template to automatically format your code. To install pre-commit:

pip install pre-commit

Then you can run pre-commit with:

pre-commit run --all-files

Troubleshooting

Pylance Missing Indexing of Extensions

In some VsCode versions, the indexing of part of the extensions is missing. In this case, add the path to your extension in .vscode/settings.json under the key "python.analysis.extraPaths".

{
    "python.analysis.extraPaths": [
        "<path-to-ext-repo>/exts/torobo_isaac_lab"
    ]
}

Pylance Crash

If you encounter a crash in pylance, it is probable that too many files are indexed and you run out of memory. A possible solution is to exclude some of omniverse packages that are not used in your project. To do so, modify .vscode/settings.json and comment out packages under the key "python.analysis.extraPaths" Some examples of packages that can likely be excluded are:

"<path-to-isaac-sim>/extscache/omni.anim.*"         // Animation packages
"<path-to-isaac-sim>/extscache/omni.kit.*"          // Kit UI tools
"<path-to-isaac-sim>/extscache/omni.graph.*"        // Graph UI tools
"<path-to-isaac-sim>/extscache/omni.services.*"     // Services tools
...