ksterx/Surgym

Surgym

Overview

Autonomous surgical robot with Reinforcement Learning.

Installation

1. Prerequisites

• Ubuntu 20.04 or later
• NVIDIA driver version: 515 or later

2. Setup

- Install Omniverse Isaac Sim

• Omniverse Platform for 3D Design Collaboration and Simulation | NVIDIA

• What Is Isaac Sim? — Omniverse Robotics documentation

- Set Python alias

alias omnipy=~/.local/share/ov/pkg/isaac_sim-*/python.sh

Usage

1. Train RL model

omnipy train.py task=<TASK_NAME>