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Robotics SoC Demo: Cartpole

Setup

git clone git@github.com:ucb-bar/Robotics-Demo-Cartpole.git
cd ./Robotics-Demo-Cartpole/
conda create -yp ./.conda-env/ python=3.10
conda activate ./.conda-env/
pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
./isaaclab.sh --install all

Train

python source/standalone/workflows/rsl_rl/train.py --task Isaac-Cartpole-v0

Visualize

Exporting the model to Baremetal-IDE

python source/standalone/workflows/rsl_rl/export.py --task Isaac-Cartpole-v0 --headless