PizzaRo - Multi-agent Collaboration using Reinforcement Learning

This repository adds a UR10Assembler environment based on OmniIsaacGymEnvs to control a UR10 with the policy learned by reinforcement learning in Omniverse Isaac Gym/Sim. The policy learns to assemble a pizza using two UR10 robots.

We target Isaac Sim 2022.1.1 and tested the RL code on Ubuntu 20.04.

Preview

Installation

Prerequisites:

• Before starting, please make sure your hardware and software meet the system requirements.
• Install Omniverse Isaac Sim 2022.1.1 (Must setup Cache and Nucleus)
  • You may try out newer versions of Isaac Sim along with their corresponding patch, but it is not guaranteed to work.
• Double check that Nucleus is correctly installed by following these steps.
• Your computer & GPU should be able to run the Cartpole example in OmniIsaacGymEnvs
• (Optional) Set up a UR3/UR5/UR10 in the real world

Make sure to install Isaac Sim in the default directory and clone this repository to the home directory. Otherwise, you will encounter issues if you didn't modify the commands below accordingly.

We will use Anaconda to manage our virtual environment:

1. Clone this repository:

   cd ~
   git clone https://github.com/abhijaysingh/pizzaro.git

2. Generate instanceable UR10 assets for training:

   Launch the Script Editor in Isaac Sim. Copy the content in omniisaacgymenvs/utils/usd_utils/create_instanceable_ur10.py and execute it inside the Script Editor window. Wait until you see the text Done!.

   • Copy the two folders from the assets/models folder to omniverse://localhost/NVIDIA/Assets/Isaac/2022.1/Isaac/. Check if the props and thr robots are properly copied into the specified folders. These assets will be instantiated in the training environment.

3. (Optional) Install ROS Melodic for Ubuntu and Set up a catkin workspace for UR10.

   Please change all catkin_ws in the commands to ur_ws, and make sure you can control the robot with rqt-joint-trajectory-controller.

   ROS support is not tested on Windows.

4. Download and Install Anaconda.

   wget https://repo.anaconda.com/archive/Anaconda3-2022.10-Linux-x86_64.sh
   bash Anaconda3-2022.10-Linux-x86_64.sh

5. Patch Isaac Sim 2022.1.1

   export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.1.1"
   cp $ISAAC_SIM/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh.bak
   cp ~/pizzaro/isaac_patch/setup_python_env.sh $ISAAC_SIM/setup_python_env.sh

6. Set up conda environment for Isaac Sim

   # conda remove --name isaac-sim --all
   export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.1.1"
   cd $ISAAC_SIM
   conda env create -f environment.yml
   conda activate isaac-sim
   cd ~/pizzaro
   pip install -e .
   # Below is optional
   pip install pyyaml rospkg

7. Activate conda & ROS environment

   export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.1.1"
   cd $ISAAC_SIM
   conda activate isaac-sim
   source setup_conda_env.sh
   # Below are optional
   cd ~/ur_ws
   source devel/setup.bash # or setup.zsh if you're using zsh

Please note that you should execute the commands in Step 7 for every new shell.

Training

You can launch the training in headless mode as follows:

cd ~/pizzaro
python omniisaacgymenvs/scripts/rlgames_train.py task=UR10Assembler headless=True

The number of environments is set to 512 by default. If your GPU has small memory, you can decrease the number of environments by changing the arguments num_envs as below:

cd ~/pizzaro
python omniisaacgymenvs/scripts/rlgames_train.py task=UR10Assembler headless=True num_envs=512

You can also skip training by downloading the pre-trained model checkpoint from here and unzip it to ~/pizzaro/: model_checkpoint

or use this (Recommended) :

cd ~/pizzaro
wget https://github.com/abhijaysingh/pizzaro/releases/download/v1.0.0/runs.zip
unzip runs.zip

Testing

Make sure you have model checkpoints at ~/pizzaro/runs, you can check it with the following command:

ls ~/pizzaro/runs/UR10Assembler/nn/

You can visualize the learned policy by the following command:

cd ~/pizzaro
python omniisaacgymenvs/scripts/rlgames_train.py task=UR10Assembler test=True num_envs=512 checkpoint=./runs/UR10Assembler/nn/UR10Assembler.pth

Likewise, you can decrease the number of environments by modifying the parameter num_envs=512.

Help

For any queries, please raise an issue or contact me at [email protected].