NSU bachelors degree project: BladeRunnerGo2

📌 About:

• Problem: Poor mobility and little amount of usecases for projection systems.
• Solution: Degree project is an RL approach to make a moving image projection system, which solves an issue with poor mobility of projectors. This repo is a backbone for RL training Unitree Go2 + Unitree D1-T with additional Intel d435 stereo-camera on the manipulator to search for the most flat and convinient surface for projection.
• Stack: IsaacLab, IsaacSim, Python, rsl_rl.

🚀 Quickstart

Prerequisites

• Ubuntu 22.04
• Python 3.10 / Anaconda
• IsaacLab 2.0.2 + IsaacSim
• Docker (optional)

Install

1. Clone IsaacLab repo
2. 1 or 2:
   1. Install IsaacLab locally.
   2. Install IsaacLab in docker and run the container.
3. Move direct or manager_based (depends on preferable approach) folder in isaaclab/source/isaaclab_tasks/isaaclab_tasks/.
4. To run learning run 1 or 2, task name depends in preferable approach. To get a list of additional arguments run train.py with -h :
   1. In docker:

      isaaclab -p ./scripts/reinforcement_learning/{rsl_rl,skrl,sb3,rl_games}/train.py --task Isaac-Go2-Project-Direct-v0

   2. Local installation:

      ./isaaclab.sh -p ./scripts/reinforcement_learning/{rsl_rl,skrl,sb3,rl_games}/train.py --task Isaac-Go2-Project-Direct-v0

📂 Project tree

Generated by Project Tree Generator

📦 Root folder
├─ go2_direct
│  ├─ __init__.py                     # gym.register file
│  ├─ agents                          # agents configs for each library
│  ├─ go2_direct_project_env.py       # learning loop file
│  ├─ go2_direct_project_env_cfg.py   # environment config
│  ├─ go2up.usd                       # robot model
│  └─ unitree.py                      # robot config for isaacsim
└─ go2_manager_based
   ├─ __init__.py                     # gym.register file
   ├─ agents                          # agents configs for each library
   ├─ go2_project_env_cfg.py          # environment config for all managers
   ├─ go2up.usd                       # robot model
   ├─ mdp                             # wrapped mdp essentials
   └─ unitree.py                      # robot config for isaacsim