From 7ef4741fc10ba9463455660fe89bc4d3e5e60f0d Mon Sep 17 00:00:00 2001 From: louislelay Date: Sun, 8 Jun 2025 21:38:24 -0400 Subject: [PATCH 1/6] adds ressources to doc --- docs/source/policy_deployment/index.rst | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index e4a04dfdc6d..ec880048c4c 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -9,3 +9,13 @@ Below, you’ll find detailed examples of various policies for training and depl :maxdepth: 1 00_hover/hover_policy + + +Resources with Available/Open-Source Code +----------------------------------------- + +Explore these external resources featuring practical implementations with available/open-source code: + +- **Spot Quadruped Locomotion**: [Closing the Sim-to-Real Gap with Spot Quadruped](https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/) +- **Kinova Gen3 Sim2Real Pipeline**: [GitHub repository](https://github.com/louislelay/kinova_isaaclab_sim2real) +- **WheeledLab for Mobile Robots**: [UW Robot Learning](https://uwrobotlearning.github.io/WheeledLab/) \ No newline at end of file From 79c086aed7c15e10f4b828424817213d061c18d8 Mon Sep 17 00:00:00 2001 From: louislelay Date: Sun, 8 Jun 2025 21:45:49 -0400 Subject: [PATCH 2/6] corrects links format --- docs/source/policy_deployment/index.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index ec880048c4c..e4bbd5fae5b 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -16,6 +16,6 @@ Resources with Available/Open-Source Code Explore these external resources featuring practical implementations with available/open-source code: -- **Spot Quadruped Locomotion**: [Closing the Sim-to-Real Gap with Spot Quadruped](https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/) -- **Kinova Gen3 Sim2Real Pipeline**: [GitHub repository](https://github.com/louislelay/kinova_isaaclab_sim2real) -- **WheeledLab for Mobile Robots**: [UW Robot Learning](https://uwrobotlearning.github.io/WheeledLab/) \ No newline at end of file +- **Spot Quadruped Locomotion**: `Closing the Sim-to-Real Gap with Spot Quadruped `_ +- **Kinova Gen3 Sim2Real Pipeline**: `GitHub repository `_ +- **WheeledLab for Mobile Robots**: `UW Robot Learning `_ \ No newline at end of file From fd67d3e9320f7a9833c7f8ca32c1231684d50f32 Mon Sep 17 00:00:00 2001 From: louislelay Date: Sun, 8 Jun 2025 21:46:24 -0400 Subject: [PATCH 3/6] formats --- docs/source/policy_deployment/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index e4bbd5fae5b..b8e7f3e0c8f 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -18,4 +18,4 @@ Explore these external resources featuring practical implementations with availa - **Spot Quadruped Locomotion**: `Closing the Sim-to-Real Gap with Spot Quadruped `_ - **Kinova Gen3 Sim2Real Pipeline**: `GitHub repository `_ -- **WheeledLab for Mobile Robots**: `UW Robot Learning `_ \ No newline at end of file +- **WheeledLab for Mobile Robots**: `UW Robot Learning `_ From 4e0b101f16223d6b0be054af5bfdc0aaed45f88f Mon Sep 17 00:00:00 2001 From: louislelay Date: Sun, 8 Jun 2025 22:27:07 -0400 Subject: [PATCH 4/6] adds a concise description --- docs/source/policy_deployment/index.rst | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index b8e7f3e0c8f..79ccf1a6f77 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -16,6 +16,22 @@ Resources with Available/Open-Source Code Explore these external resources featuring practical implementations with available/open-source code: -- **Spot Quadruped Locomotion**: `Closing the Sim-to-Real Gap with Spot Quadruped `_ -- **Kinova Gen3 Sim2Real Pipeline**: `GitHub repository `_ -- **WheeledLab for Mobile Robots**: `UW Robot Learning `_ +- **Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab** + Shows how to train a robust locomotion policy for the + Boston Dynamics Spot quadruped in Isaac Lab and deploy + it zero-shot on the real robot using NVIDIA Jetson Orin - + `NVIDIA Technical Blog `_ + +- **Kinova Gen3 RL & Sim2Real Toolkit** + Modular extension for Isaac Lab that trains RL reach-task + policies on Kinova Gen3 and runs them in simulation or on + the real arm via a minimal ROS 2 sim-to-real interface - + `GitHub repository `_ + +- **WheeledLab for Mobile Robots** + Demonstrates three sim-to-real RL policies—drifting, + elevation traversal, and visual navigation—for small + RC cars, all trained in Isaac Lab and tested on + low-cost hardware - + `UW Robot Learning project website `_ + From 46c2184fca7754162ea74e01137e63f732218f63 Mon Sep 17 00:00:00 2001 From: louislelay Date: Sun, 8 Jun 2025 22:45:26 -0400 Subject: [PATCH 5/6] adds isaac sim doc deployment tutorial --- docs/source/policy_deployment/index.rst | 40 ++++++++++++++----------- 1 file changed, 23 insertions(+), 17 deletions(-) diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index 79ccf1a6f77..55fbcad39c6 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -16,22 +16,28 @@ Resources with Available/Open-Source Code Explore these external resources featuring practical implementations with available/open-source code: -- **Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab** - Shows how to train a robust locomotion policy for the - Boston Dynamics Spot quadruped in Isaac Lab and deploy - it zero-shot on the real robot using NVIDIA Jetson Orin - - `NVIDIA Technical Blog `_ +- **Deploying Policies in Isaac Sim**: + Step-by-step guide to deploying ONNX-exported RL + policies trained in Isaac Lab, covering demos for + Unitree H1 and Boston Dynamics Spot and sim-to-real + considerations - + `Tutorial in Isaac Sim Documentation `_ + +- **Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab** + Shows how to train a robust locomotion policy for the + Boston Dynamics Spot quadruped in Isaac Lab and deploy + it zero-shot on the real robot using NVIDIA Jetson Orin - + `Blog post on NVIDIA Technical Blog `_ - **Kinova Gen3 RL & Sim2Real Toolkit** - Modular extension for Isaac Lab that trains RL reach-task - policies on Kinova Gen3 and runs them in simulation or on - the real arm via a minimal ROS 2 sim-to-real interface - - `GitHub repository `_ - -- **WheeledLab for Mobile Robots** - Demonstrates three sim-to-real RL policies—drifting, - elevation traversal, and visual navigation—for small - RC cars, all trained in Isaac Lab and tested on - low-cost hardware - - `UW Robot Learning project website `_ - + Modular extension for Isaac Lab that trains RL reach-task + policies on Kinova Gen3 and runs them in simulation or on + the real arm via a minimal ROS 2 sim-to-real interface - + `Project repository on GitHub `_ + +- **Wheeled Lab for Mobile Robots** + Demonstrates three sim-to-real RL policies (drifting, + elevation traversal, and visual navigation) for small + RC cars, all trained in Isaac Lab and tested on + low-cost hardware - + `Project website on UW Robot Learning GitHub Pages `_ From ccb5487a180d8375b57ec00e66a4d7365457d7c0 Mon Sep 17 00:00:00 2001 From: louislelay Date: Sun, 8 Jun 2025 23:06:32 -0400 Subject: [PATCH 6/6] modifies a description --- docs/source/policy_deployment/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index 55fbcad39c6..f8051975c91 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -17,7 +17,7 @@ Resources with Available/Open-Source Code Explore these external resources featuring practical implementations with available/open-source code: - **Deploying Policies in Isaac Sim**: - Step-by-step guide to deploying ONNX-exported RL + Step-by-step guide to deploying exported RL policies trained in Isaac Lab, covering demos for Unitree H1 and Boston Dynamics Spot and sim-to-real considerations -