Training on Cloud¶

Instance Details¶

Training on cloud requires access to an instance. During the development of this project we used the Google Cloud Computing (GCP) free trial. The instance was setup with Ubuntu 20.04 LTS and 20GB memory. Training using gym-os2r is designed to run on CPU. Therefore it is highly recommend to setup your instance without gpu and instead more than eight cores of CPU.

Setting up Instance¶

Bash script showing setup procedure can be found here.

To setup the instance with current release of gym-os2r follow the procedure below,

# Install Ignition Fortress
sudo apt-get update
sudo apt-get install lsb-release wget gnupg
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install -y ignition-fortress

# Set Env variable for ignition
echo 'export IGN_GAZEBO_PHYSICS_ENGINE_PATH=${IGN_GAZEBO_PHYSICS_ENGINE_PATH}:/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/' >> ~/.bashrc

# Install misc instance dependencies
sudo apt-get install -y python3-pip swig screen build-essential libeigen3-dev libxml2-dev coinor-libipopt-dev libassimp-dev libirrlicht-dev
pip install --upgrade pip

# Pip install gym
pip install gym==v0.21.0
pip install --pre scenario gym-ignition

# Install gym-os2r (replace this line with developer install if you want developer mode)
pip install git+https://github.com/OpenSim2Real/gym-os2r.git

recommended miscellaneous installations for reinforcement learning training.

# pip install torch
pip install torch torchvision torchaudio

# Pip install Wandb and log in
echo "Please copy the authorization key from wandb and paste it into your command line when asked to authorize your account."
echo ""
echo "After completing click enter to continue."

read -p "After reading instructions. Press enter to continue" yn
pip install wandb
wandb login

Install developer gym-os2r. Replace the pip installation of gym-os2r with the following,

git config --global user.name $USER_NAME
git config --global user.email $USER_GITHUB_EMAIL


echo "Generate SSH key for github."
echo ""
echo "In next step you can press enter three times. No need for a password unless you want one..."

read -p "After reading instructions. Press enter to continue" yn


ssh-keygen -t ed25519 -C $USER_GITHUB_EMAIL
eval "$(ssh-agent -s)"
ssh-add ~/.ssh/id_ed25519

echo "Please copy the SSH key below and paste it into your github ssh keys."
echo ""

cat ~/.ssh/id_ed25519.pub

read -p "After added ssh key to github. Press enter to continue" yn

mkdir ~/workspace
cd ~/workspace
git clone git@github.com:OpenSim2Real/gym-os2r.git

cd gym-os2r
pip install -e .

Now to train your super sick smexy algorithms using gym-os2r please look at Quick Start or Next Steps for a introduction on how to use our simulation platform.