Merge pull request #3 from rail-berkeley/serl_launcher_state

Add SERL launcher with a Franka Arm from state example

.pre-commit-config.yaml

@@ -21,10 +21,10 @@ repos:
     rev: 6.1.0
     hooks:
       - id: flake8
-  - repo: https://github.com/pycqa/isort
-    rev: 5.12.0
-    hooks:
-      - id: isort
+  # - repo: https://github.com/pycqa/isort
+  #   rev: 5.12.0
+  #   hooks:
+  #     - id: isort
   - repo: https://github.com/srstevenson/nb-clean
     rev: 3.1.0
     hooks:

README.md

@@ -3,5 +3,64 @@
 ![](https://github.com/rail-berkeley/serl/workflows/pre-commit/badge.svg)
 
 ## Installation
-- Conda Environment:
-    - create an environment with `conda create -n serl python=3.10`
+1. Conda Environment:
+    create an environment with
+    ```bash
+    conda create -n serl python=3.10
+    ```
+
+2. Install RL library
+    - the examples here use jaxrl-minimal as the RL library.
+    - To install jaxrl-minimal, with `serl_dev` branch is based off the latest `main` branch.
+        ```bash
+        git clone https://github.com/rail-berkeley/jaxrl_minimal/tree/serl_dev
+        ```
+    - install and its dependencies
+        ```bash
+        cd jaxrl_minimal
+        pip install -e .
+        pip install -r requirements.txt
+        ```
+    - For GPU: (change cuda12 to cuda11 if you are using older driver versions)
+        ```bash
+        pip install --upgrade "jax[cuda12_pip]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
+        ```
+
+    - For TPU
+        ```bash
+        pip install --upgrade "jax[tpu]" -f https://storage.googleapis.com/jax-releases/libtpu_releases.html
+        ```
+    - See the [Jax Github page](https://github.com/google/jax) for more details on installing Jax.
+
+3. Install the serl_launcher
+    ```bash
+    cd serl_launcher
+    pip install -e .
+    ```
+
+1. Install Franka Sim library (Optional)
+    ```bash
+    cd franka_sim
+    pip install -e .
+    pip install -r requirements.txt
+    ```
+
+Try if franka_sim is running via `python franka_sim/franka_sim/test/test_gym_env_human.py`
+
+## Quick Start with Franka Arm in Sim
+```bash
+cd examples/async_sac_state_sim
+```
+
+Run learner node:
+```bash
+bash run_learner.sh
+```
+
+Run actor node with rendering window:
+```bash
+# add --ip x.x.x.x if running on a different machine
+bash run_actor.sh
+```
+
+You can optionally launch learner and actor on separate machines. For example, if learner node is running on a PC with `ip=x.x.x.x`, you can launch the actor node on a different machine with internet access to `ip=x.x.x.x` and add `--ip x.x.x.` to the commands in `run_actor.sh`.