Merge pull request #32 from abizovnuralem/fix_speed

fix speed

README.md

@@ -3,12 +3,12 @@
 
 # Welcome to the Unitree Go2/G1 Digital Twins Project!
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-orbit-gold.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
 [![License](https://img.shields.io/badge/license-BSD--2-yellow.svg)](https://opensource.org/licenses/BSD-2-Clause)
 
-We are thrilled to announce that the Unitree Go2/G1 robot has now been integrated with the Nvidia Isaac Sim 4.0 (Isaac Lab), marking a major step forward in robotics research and development. The combination of these two cutting-edge technologies opens up a world of possibilities for creating and testing algorithms in a variety of simulated environments.
+We are thrilled to announce that the Unitree Go2/G1 robot has now been integrated with the Nvidia Isaac Sim (Orbit), marking a major step forward in robotics research and development. The combination of these two cutting-edge technologies opens up a world of possibilities for creating and testing algorithms in a variety of simulated environments.
 
 Get ready to take your research to the next level with this powerful new resource at your fingertips!
 
@@ -101,22 +101,35 @@ Together, let's push the boundaries of what's possible with the Unitree Go2/G1 a
 ## System requirements
 You need to install:
 1. Ubuntu 22.04
-2. Nvidia Isaac Sim 4.0
-3. Nvidia Isaac Lab
+2. Nvidia Isaac Sim 2023.1.1
+3. Nvidia Orbit 0.3.0
 4. Ros2 Humble
 
 
 Full instruction:
 ```
-https://isaac-sim.github.io/IsaacLab/source/setup/installation/binaries_installation.html
+1. Use this specific IsaacLab repo version: https://github.com/isaac-sim/IsaacLab/releases/tag/v0.3.1
+2. execute in ubuntu terminal:
+export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-2023.1.1"
+export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
+and also put it inside .bashrc file
+3. Inside the root folder of Orbit repo (https://github.com/isaac-sim/IsaacLab/releases/tag/v0.3.1) execute ln -s ${ISAACSIM_PATH} _isaac_sim
+4. ./orbit.sh --conda
+5. conda activate orbit
+6. sudo apt install cmake build-essential
+7. ./orbit.sh --install
+8. ./orbit.sh --extra rsl_rl
+9. verify the installation using "python source/standalone/tutorials/00_sim/create_empty.py" You should be inside conda env.
+10. You need to check that you have "Isaac Sim Python 2023.1.1 - New Stage*" on the top of the window.
+11. go to the current repo project (this repo)
+12. execute ./run_sim.sh
 ```
 
 Some suggestions:
-1. You need to check nvidia-smi, it should work, before installing Isaac Sim 4.0
+1. You need to check nvidia-smi, it should work, before installing Isaac Sim (Orbit)
 2. You need to install Miniconda and execute: conda config --set auto_activate_base false
-3. Install Omniverse launcher and then install Isaac Sim 4.0.
-4. Create conda env then activate it, also execute ./isaaclab.sh --install 
-Also, you need to install ROS2 on your system and configure it:
+3. Install Omniverse launcher and then install Isaac Sim (Orbit).
+4. You need to install ROS2 on your system and configure it:
 
 ```
 https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#isaac-sim-app-install-ros
@@ -136,13 +149,11 @@ git clone https://github.com/abizovnuralem/go2_omniverse/ --recurse-submodules -
 First, you need to copy files from Isaac Sim folder to your local Isaac Sim installation in order to use Unitree L1 lidar inside Orbit.
 
 ```
-1. You need to replace original file that located in ~/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.sensor/config/extrensiom.toml 
-with Isaac_sim/extension.toml in this repo.
-2. You need to add Unitree_L1.json to IsaacLab repo folder, where IsaacLab/source/exts/omni.isaac.sensor/data/lidar_configs/Unitree/Unitree_L1.json will be the final path (If it doesnt exists, create it)
+1. You need to add Unitree_L1.json to IsaacLab (Orbit) repo folder, where IsaacLab-0.3.1/source/data/sensors/lidar/Unitree/Unitree_L1.json will be the final path (If it doesnt exists, create it)
 ```
 
 ## Usage
-The current project was tested on Ubuntu 22.04, IsaacSim 4.0 with Isaac Lab and Nvidia Driver Version: 545.
+The current project was tested on Ubuntu 22.04, IsaacSim 2023.1.1 with Orbit 0.3.0 and Nvidia Driver Version: 545.
 To start the project with Unitree GO2, execute:
 
 ```
@@ -165,7 +176,7 @@ You can use https://github.com/abizovnuralem/go2_ros2_sdk as a basement for your
 ## Select custom env
 
 To use predifined custom envs, you need to download files from https://drive.google.com/drive/folders/1vVGuO1KIX1K6mD6mBHDZGm9nk2vaRyj3?usp=sharing and place them to /envs folder.
-Then you can execute it via python main.py --custom_env=office or python main.py --custom_env=warehouse commands (The whole cmd you can read from run_sim script). If you are doing it first time, it will take 2-3 minutes to configure the env. Please, wait.
+Then you can execute it modifying run_sim.sh script with --custom_env=office and --terrain flat commands. If you are doing it first time, it will take 2-3 minutes to configure the env. Please, wait.
 
 
 ## Development
@@ -183,8 +194,12 @@ I have tested it on:
 5. Execute IsaacSim, Go to Window -> Extensions, find STEAMVR INPUT/OUTPUT then enable it and enable AutoLoad. Reopen IsaacSim. Use OpenXR mode.
 6. Enjoy Omniverse in VR mode!
 
+
 ## Thanks
-Special thanks to Leul Tesfaye for his expertise in Orbit lidars and Tamas @tfoldi for contributing to this project.
+Special thanks to 
+1. Leul Tesfaye for his expertise in Orbit lidars;
+2. Tamas @tfoldi for contributing to this project;
+3. @ShaoshuSu for his hardwork in investigating the speed issues with new version of Orbit (IsaacLab 4.0 and 4.1);
 
 
 ## License

cli_args.py

@@ -9,7 +9,7 @@
 from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg
+    from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg
 
 
 def add_rsl_rl_args(parser: argparse.ArgumentParser):
@@ -48,7 +48,7 @@ def parse_rsl_rl_cfg(task_name: str, args_cli: argparse.Namespace) -> RslRlOnPol
     Returns:
         The parsed configuration for RSL-RL agent based on inputs.
     """
-    from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry
+    from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry
 
     # load the default configuration
     rslrl_cfg: RslRlOnPolicyRunnerCfg = load_cfg_from_registry(task_name, "rsl_rl_cfg_entry_point")

custom_rl_env.py

@@ -26,36 +26,39 @@
 import torch
 from dataclasses import MISSING
 from typing import Literal
-
-
-from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
-from omni.isaac.lab.utils import configclass
-
-import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import ContactSensorCfg, RayCasterCfg, patterns
-from omni.isaac.lab.terrains import TerrainImporterCfg
-from omni.isaac.lab.utils import configclass
-from omni.isaac.lab_assets.unitree import UNITREE_GO2_CFG 
-from omni.isaac.lab.managers import EventTermCfg as EventTerm
-from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup
-from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.lab.managers import RewardTermCfg as RewTerm
-from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
-from omni.isaac.lab.utils import configclass
-from omni.isaac.lab.utils.noise import AdditiveUniformNoiseCfg as Unoise
-import omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp as mdp
-
-
+import argparse  
+
+
+from omni.isaac.orbit.envs import RLTaskEnvCfg
+from omni.isaac.orbit.utils import configclass
+
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
+from omni.isaac.orbit.scene import InteractiveSceneCfg
+from omni.isaac.orbit.sensors import ContactSensorCfg, RayCasterCfg, patterns
+from omni.isaac.orbit.terrains import TerrainImporterCfg
+from omni.isaac.orbit.utils import configclass
+from omni.isaac.orbit_assets.unitree import UNITREE_GO2_CFG 
+from omni.isaac.orbit.managers import EventTermCfg as EventTerm
+from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
+from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
+from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
+from omni.isaac.orbit.managers import SceneEntityCfg
+from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
+from omni.isaac.orbit.utils import configclass
+from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise
+import omni.isaac.orbit_tasks.locomotion.velocity.mdp as mdp
+
+from terrain_cfg import ROUGH_TERRAINS_CFG
 from robots.g1.config import G1_CFG
 
+from omniverse_sim import args_cli
+
 
 base_command = {}
 
 
-def constant_commands(env: ManagerBasedRLEnvCfg) -> torch.Tensor:
+def constant_commands(env: RLTaskEnvCfg) -> torch.Tensor:
     global base_command
     """The generated command from the command generator."""
     tensor_lst = torch.tensor([0, 0, 0], device=env.device).repeat(env.num_envs, 1)
@@ -68,12 +71,27 @@ def constant_commands(env: ManagerBasedRLEnvCfg) -> torch.Tensor:
 class MySceneCfg(InteractiveSceneCfg):
     """Configuration for the terrain scene with a legged robot."""
 
-    # ground terrain
-    terrain = TerrainImporterCfg(
+    if args_cli.terrain == "flat":
+
+        # flat terrain
+        terrain = TerrainImporterCfg(
+            prim_path="/World/ground",
+            terrain_type="plane",
+            debug_vis=False,
+        )
+    else:
+        terrain = TerrainImporterCfg(
         prim_path="/World/ground",
-        terrain_type="plane",
+        terrain_type="generator",
+        terrain_generator=ROUGH_TERRAINS_CFG,
+        physics_material=sim_utils.RigidBodyMaterialCfg(
+        friction_combine_mode="multiply",
+        restitution_combine_mode="multiply",
+        static_friction=1.0,
+        dynamic_friction=1.0,
+        ),
         debug_vis=False,
-    )
+        )
 
     # robots
     robot: ArticulationCfg = MISSING
@@ -238,7 +256,7 @@ class EventCfg:
 
 
 @configclass
-class LocomotionVelocityRoughEnvCfg(ManagerBasedRLEnvCfg):
+class LocomotionVelocityRoughEnvCfg(RLTaskEnvCfg):
     """Configuration for the locomotion velocity-tracking environment."""
     # Scene settings
     scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=2.5)