PR2-Platform

✅ System Requirements

The following steps are taken from the NVIDIA Omniverse Isaac Sim documentation on container installation.

🍀 Pre-Requisites

Before getting started, ensure that the system has the latest NVIDIA Driver and the NVIDIA Container Toolkit installed.

📁 Obtaining the Isaac Sim Container

1. Get access to the Isaac Sim Container by joining the NVIDIA Developer Program credentials

2. Generate your NGC API Key to access locked container images from NVIDIA GPU Cloud (NGC).

   • This step requires you to create an NGC account if you do not already have one.
   • You would also need to install the NGC CLI to perform operations from the command line.
   • Once you have your generated API key and have installed the NGC CLI, you need to log in to NGC from the terminal.

   ngc config set

3. Use the command line to login to your NGC Account.

      docker login nvcr.io

   • For the username, enter $oauthtoken exactly as shown. It is a special username that is used to authenticate with NGC.

      Username: $oauthtoken
      Password: <Your NGC API Key>

🤖 PR2 Environment Setup

🚀 Clone PR2-Platform repo

git clone [email protected]:pr2-humanoid/PR2-Platform.git
cd PR2-Platform/PR2

🏡 Download the Asset

Use the following commands to download and place the asset in the PR2-Platform/PR2/data directory.

wget https://github.com/pr2-humanoid/PR2-Platform/releases/download/v0.1.0/data-v0.0.1.zip
unzip data-v0.0.1.zip -d . 
rm -rf data-v0.0.1.zip

🐳 Setting Up Docker

1. Build Docker Image Run the following command:

   bash docker/script/build-pr2.sh

2. Run the Docker Image To set up the PR2 environment, execute:

   bash docker/script/run-pr2.sh

   This script binds your local repository directory to /PR2/ inside Docker and initiates a new bash shell.

📹 Running a Demo

Once you are in the Docker environment, you can start a demo with:

bash examples/launch_task.sh <task-id>

Replace <task-id> with an integer between 1 and 6 to select the specific demo task you want to present.

💯 Test Your Solution

To test your TaskSolver, execute:

bash submission/launch_task.sh <task-id>

Replace <task-id> with an integer between 1 and 6 to select the specific task you want to test.

⭐ Contributing to PR2-Platform

We warmly welcome contributions from the community to help enhance and refine this platform for the benefit of all users. Whether it’s through bug reports, feature requests, or direct code contributions, your input is invaluable to us. If you find this project beneficial, we would greatly appreciate your follow and a star.