Isaac LAB for Flamingo

Sim2Real - ZeroShot Transfer (Indoor)

Sim2Real - ZeroShot Transfer (Outdoor)

Isaac Lab Training FlaminGO

Sim 2 Sim framework - Lab to MuJoCo

• Simulation to Simulation framework is available on sim2sim_onnx branch
• You can simply inference trained policy (basically export as .onnx from isaac lab)

Setup

Install Isaac Sim

https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html

Install Isaac Lab

https://isaac-sim.github.io/IsaacLab/source/setup/installation/index.html

Install lab.flamingo package

1. Set the ISAACSIM_PATH environment variable to point to your isaaclab installation directory(register on your environment [.bashrc])

   export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.0.0"
   export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
   export ISAACLAB_PATH="${HOME}/IsaacLab"
   

2. clone repository

   git clone -b flamingo_isaac_lab_envs
   

3. replace 'source' folder into your isaaclab 'source' folder

   cp ${HOME}/lab.flamingo/modified_source/source ${HOME}/IsaacLab/source
   

4. install lab.flamingo pip package by running below command

   ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --upgrade pip
   ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e .
   

Launch script

train flamingo

on lab.flamingo root path, type

${ISAACLAB_PATH}/isaaclab.sh -p scripts/rsl_rl/train.py --task Isaac-Velocity-Flat-Flamingo-v1 --num_envs 4096 --headless

play flamingo

${ISAACLAB_PATH}/isaaclab.sh -p scripts/rsl_rl/play.py --task Isaac-Velocity-Flat-Flamingo-Play-v1 --num_envs 32