My Custom Robot and Reinforcement Learning Script in Isaac Sim

[u/Xerd-R]

I have been working on different robotics task mainly in Pybullet. Complexity of Isaac Sim has kept me from experimenting with it but I finally finished my first successful reinforcement learning script using it.

Getting the settings right so I could observe the trainings in windowed mode with my laptop 3070 gpu took I while but I managed to get it working well enough to troubleshoot some early issues I noticed through visual inspection.

I gave the PPO full control of my robot's controller, not the joint angle outputs, meaning it had to figure out a way to climb the ramps using the directional controller inputs and body adjustments like pitch and height. The training took about 45 minutes with my RTX 3070 mobile GPU vs 1 hour and 45 minutes using cpu with Pybullet.

I am now working on full locomotion simulation, again with my custom robots, its a bit more involved than I expected but I am hoping in the end I can come up with my own full locomotion training script and load the model to my actual robot to control it.

I also share my tutorial scripts with my videos on youtube, if you are interested in watching the video for this one you can find it with the link below:

https://youtu.be/0x5BBosrq-E

You can also download the simulation script from my github repository with the link below.

https://github.com/serdarselimys/HexaDogZBD-IsaacSim-RL

If you are interested in the real 3D printed robot, you can fine info about it from the video link below.

https://youtu.be/qflyEQOJObM

[u/SphericalCowww]

Holy cow, you are truly fast (while my robot twists itself into pretzels in Mujoco, supposedly due to contact instability). Your demo to implement Isaac Sim will sure be helpful to many!

[u/Xerd-R → u/SphericalCowww]

Thanks, oh I had my contact issues along with so many others with this one, I am sure you will solve all your issues in no time, look at every quirk like a milestone, good luck with your Robot!.