RLRoverLab Documentation

Native Installation

If you prefer to install the suite natively without using Docker, follow these steps:

1. Install Isaac Sim 4.5 According to the Official Documentation.

   First Download the Isaac Sim 4.5 to the ~/Downloads directory.

   Then run the following commands:

   mkdir ~/isaacsim
   cd ~/Downloads
   unzip "isaac-sim-standalone@4.5.0-rc.36+release.19112.f59b3005.gl.linux-x86_64.release.zip" -d ~/isaacsim
   cd ~/isaacsim
   ./post_install.sh
   ./isaac-sim.selector.sh
   

2. Install Isaac Lab

   git clone https://github.com/isaac-sim/IsaacLab
   cd isaac_lab
   
   # create aliases
   export ISAACSIM_PATH="${HOME}/isaacsim"
   export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
   
   # Create symbolic link
   ln -s ${ISAACSIM_PATH} _isaac_sim
   
   # Create Conda Env
   ./isaaclab.sh --conda isaaclab_env
   
   # Activate Env
   conda activate isaaclab_env
   
   # Install dependencies
   conda --install
   
   

3. Set up the RL-suite:

   # Clone Repo
   git clone https://github.com/abmoRobotics/RLRoverLab
   cd RLRoverLab
   
   # Install Repo (make sure conda is activated)
   python -m pip install -e .[all]
   

4. Running The Suite

   To train a model, navigate to the training script and run:

   cd examples/02_train/train.py
   python train.py
   

   To evaluate a pre-trained policy, navigate to the inference script and run:

   cd examples/03_inference_pretrained/eval.py
   python eval.py