JFT0-Franka

Just Fork This! (L0) for the Franka Emika Panda

This repo provides a common starting point for robot learning and includes an example in each of the key components found in a typical project.

Note: Each slot can be easily swapped out e.g. using another optimization library or another kind of env.

Category	Example Provided
Configuration	@dataclasses
Environments	Isaac-Sim / Orbit
Optimization	RL Games / TGS
Experiment Management & Logging	Hydra
Hardware Deployment	Interface for ROS2 / ZMQ

Quick Start

1. Installing Isaac-Sim

From Nvidia Ominiverse Installation Click Here to download Linux image.

1. Right click on AppImage, then go to properties tab, then select "allow file to execute as program".
2. Log in to Nvidia Account.
3. Follow prompts (install nucleus and cache).
4. Go to "Exchange" tab in Ominiverse launcher and type "Isaac Sim".
5. Install Isaac Sim. Currently newest version is 2022.2.0

2. Creating Isaac-Sim Conda Env

rather than running with python dist from Isaac-Sim download

cd ~/.local/share/ov/pkg/isaac_sim*
conda env create -f environment.yml
conda activate isaac-sim
source setup_conda_env.sh

3. Run Training or Play Scripts

cd ./JFT0-Franka/scripts
python scripts/train.py

Guides

Coming soon:

1. A diagram explaining the relationship of Nvidia's Isaac tools (including other derived repos)
2. A guide explaining the configuration philosphy / system
3. A guide showing how to deploy a policy on the real robot with one switch