Spot-RL

Code & Dockerfile for Spot Reinforcement Learning demo

Import our image from .tar

docker load -i spot-rl-demo-<arch>.tar
docker tag spot-rl-demo:<arch> spot-rl-demo:latest

Default Model 15k Steps

docker run --privileged --rm -it -v /dev/input:/dev/input spot-rl-demo:latest <ip of robot api> /spot-rl/external/models/

Bring your own model (don't forget to set the IP)

docker run --privileged --rm -it -v /dev/input:/dev/input -v /path/to/folder/with/onz:/models spot-rl-demo:latest 192.168.x.y /models

Example with local directory ./Model_Under_Test (don't forget to set the IP)

docker run --privileged --rm -it -v /dev/input:/dev/input -v ./Model_Under_Test/:/mut spot-rl-demo:latest 192.168.x.y /mut

Installing without docker from locally cloned repo

sudo apt update
sudo apt install python3-pip
pip3 install gitman
gitman update
cd external/spot_python_sdk/prebuilt
pip3 install bosdyn_api-4.0.0-py3-none-any.whl
pip3 install bosdyn_core-4.0.0-py3-none-any.whl
pip3 install bosdyn_client-4.0.0-py3-none-any.whl
pip3 install pygame
pip3 install pyPS4Controller
pip3 install spatialmath-python
pip3 install onnxruntime