Complete documentation for ant_instanceable robot

Omniverse Isaac Sim
1

Dear All,

I trust you are well.

Due to the lack of documentation, or my inability to locate documentation related to the examples provided by the Isaac Sim team, such as the ant_instanceable robot;

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I am currently engaged in reverse-engineering the steps to find answers to the following questions:

  1. Why does the Issac Sim team use different Xforms in the ant_instanceable.usd model?

  2. How can we make adjustments in various files (ant_env_cfg.py, yaml, train.py, etc.) after making changes in the ant_instanceable.usd model to enable training using RL_games on the ‘Isaac-Ant-v0’ environment?

  3. Could you kindly provide complete documentation for writing different files (ant_env_cfg.py, yaml, train.py, etc.) from scratch? This is particularly needed if we want to train models other than the aforementioned one, making them capable of training using RL_games on the ‘Isaac-Ant-v0’ environment.

Please let me know if you need any further clarification.

Warmest regards,

Mohammad Shoaib

P.S. I’m using Issac sim 2023.1.1 w/ below PC specifications;

PC specifications:

OS: Ubuntu 20.04.6 LTS x86_64
Kernel: 5.15.0-94-generic
Uptime: 32 mins
Packages: 1751 (dpkg), 9 (snap)
Shell: bash 5.0.17
Resolution: 1920x1200
DE: GNOME
WM: Mutter
WM Theme: Adwaita
Theme: Yaru [GTK2/3]
Icons: Yaru [GTK2/3]
Terminal: gnome-terminal
CPU: AMD Ryzen Threadripper 3970X (6
GPU: NVIDIA 01:00.0 NVIDIA Corporati
Memory: 4220MiB / 128651MiB

2

I will inquire and get some advice back to you, thanks

3

Hi @shoaib.babar - Have you reviewed Isaac Sim documentation? specifically Isaac Gym?
https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_gym_tutorials/tutorial_gym_isaac_gym.html

You can find more information through this OIGE GitHub Repo:

4

Hi @rthaker thanks for your kind response.

I’m using Isaac Sim with Orbit instead of Isaac Gym.

Below is the link for the site that I’m following;

Link: Running existing scripts — orbit documentation.

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  1. Could you kindly direct me or provide me with documentation on creating a simple custom robot and using RL in Orbit + Isaac Sim?

  2. Could you tell me if we can train robots using RL in Issac Gym so why we need to use Orbit?

Waiting for your kind response.

Mohammad Shoaib

5

Thanks, highly appreciated.

7

Hi,

Did you go through the documentation here: Designing an Environment — orbit documentation

It goes over all the steps around creating an environment and training with Stable-Baselines3. The steps are the same for RL-Games or any other framework in Orbit.

Regarding tuning the parameters, you can do those in the config files inside every environment folder.

8

Dear @mmittal ,

Thank you so much for the guidance.

I’m now following all the steps mentioned on Orbit website (as you mentioned :) );

https://isaac-orbit.github.io/orbit/source/tutorials/00_sim/create_empty.html

While following the steps (1.1. Isaac Sim Interface — Omniverse IsaacSim latest documentation), I could not enable the timeline feature using the extension tab as it seems that it disappeared from ISAAC SIM after installing Orbit);

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Could you kindly help me in this regards,

Thank you and warmest regards,

Mohammad Shoaib

9

Can you share your terminal log? Do you see any errors over there?

11

Hi @mmittal,

I have followed all the tutorials but they are not detailed.

I want to model the custom robot that I built in my lab in Isaac Sim.

What I Know;

  • How can design 3D GUI in Isaac Sim.

What I want to learn;

  1. I need to learn how to use that robot properly in Isaac Sim to train it on reinforcement learning.

  2. how to add domain randomization

Thanks