Doc/docker readme

DOCKER_INSTALL.md

@@ -0,0 +1,141 @@
+# StrideSim Docker Installation Guide
+
+## Graphic Driver Installation
+
+To install the NVIDIA graphic driver, execute the following commands:
+
+```bash
+sudo apt-get update
+sudo apt install build-essential -y
+wget https://us.download.nvidia.com/XFree86/Linux-x86_64/535.129.03/NVIDIA-Linux-x86_64-535.129.03.run
+chmod +x NVIDIA-Linux-x86_64-535.129.03.run
+sudo ./NVIDIA-Linux-x86_64-535.129.03.run
+```
+
+![alt text](Asset/docker_install/image-2.png)
+> I tried to install *nvidia driver-550*, and it also works.
+
+## Docker Installation
+
+To install Docker, execute the following commands:
+
+```bash
+# Docker installation using the convenience script
+curl -fsSL https://get.docker.com -o get-docker.sh
+sudo sh get-docker.sh
+
+# Post-install steps for Docker
+sudo groupadd docker
+sudo usermod -aG docker $USER
+newgrp docker
+
+# Verify Docker
+docker run hello-world
+```
+
+## Nvidia Container Toolkit Installation
+
+```bash
+#Configure the repository
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
+  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
+  && \
+    sudo apt-get update
+
+#Install the NVIDIA Container Toolkit packages
+sudo apt-get install -y nvidia-container-toolkit
+sudo systemctl restart docker
+
+#Configure the container runtime
+sudo nvidia-ctk runtime configure --runtime=docker
+sudo systemctl restart docker
+
+#Verify NVIDIA Container Toolkit
+docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi
+```
+
+## Get NGC Key
+You can follow this [official documentation](https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key) to get the NGC key.
+
+1. Go to [NGC](https://ngc.nvidia.com/signin)
+
+2. Click on the **Setup** button on the top right.
+
+    ![alt text](Asset/docker_install/image.png)
+
+3. Click on the **Generate API Key** button.
+
+    ![alt text](Asset/docker_install/image-1.png)
+
+4. Copy the API Key.
+
+```bash
+docker login nvcr.io
+```
+
+```bash
+Username: $oauthtoken
+Password: API키
+```
+
+## Get Isaac Sim Docker Image
+
+```bash
+docker pull nvcr.io/nvidia/isaac-sim:4.0.0
+```
+
+## Run StrideSim Docker Container
+
+1. Build Docker Image
+
+```bash
+docker build -t stride-sim:v0.0.1 docker
+```
+
+2. Run Docker Container
+
+```bash
+docker run --name stride-sim-0.0.1 --entrypoint bash -it --runtime=nvidia --gpus all -e "ACCEPT_EULA=Y" --network=host --privileged \
+    -e "PRIVACY_CONSENT=Y" \
+    -e DISPLAY=$DISPLAY \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+    -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+    -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+    -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+    -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+    -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+    -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+    -v ~/docker/isaac-sim/documents:/root/Documents:rw \
+    -v /dev/shm:/dev/shm \
+    stride-sim:v0.0.1
+```
+
+Now you can run StrideSim Docker Container.
+
+It contains the Isaac Sim, StrideSim, IsaacLab and ROS2 Humble!!
+
+You can run the following command to run isaac-sim.
+
+```bash
+cd /isaac-sim
+./isaac-sim.sh --allow-root
+```
+
+ENJOY!
+
+## File Structure
+
+- /isaac-sim
+- /StrideSim
+- /IsaacLab
+- /opt/ros/humble
+
+## Reference
+
+- [Container Installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html)
+- [NGC Key](https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key)
+
+*Back to [README](README.md)*

README.md

@@ -1,125 +1,116 @@
 # StrideSim
 
+## Table of Contents
+
+- [Overview](#overview)
+- [Installation](#installation)
+  - [Docker Installation (Recommended)](#docker-installation-recommended)
+  - [Local Installation](#local-installation)
+- [Tips](#tips)
+- [Usage](#usage)
+
+
 [![IsaacSim](https://img.shields.io/badge/IsaacSim-4.0.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Isaac Lab](https://img.shields.io/badge/IsaacLab-1.0.0-silver)](https://isaac-sim.github.io/IsaacLab)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![License](https://img.shields.io/badge/license-MIT-yellow.svg)](https://opensource.org/license/mit)
 
-## 개요
+## Overview
 
-StrideSim은 Isaac Lab을 기반으로 한 프로젝트입니다. 이 저장소는 Isaac Lab의 핵심 저장소 외부에서 독립적인 환경에서 개발할 수 있도록 설계되었습니다.
+StrideSim is a project based on Isaac Lab. This repository is designed to allow development in an independent environment outside the core repository of Isaac Lab.
 
-## 설치
+## Docker Installation (Recommended)
 
-1. Isaac Sim 4.0.0 설치: [설치 가이드](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) 참조
+You can build and run the container using the Dockerfile.
 
-2. [Isaac Lab v1.0.0](https://github.com/isaac-sim/IsaacLab/tree/v1.0.0) 설치: [설치 가이드](https://isaac-sim.github.io/IsaacLab/source/setup/installation/index.html) 참조
+[Docker Installation Guide](DOCKER_INSTALL.md)
 
-3. StrideSim 설치
+## Local Installation
 
-```bash
-git clone https://github.com/AuTURBO/StrideSim.git
-```
+1. Install Isaac Sim 4.0.0: Refer to the [Installation Guide](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html).
 
-```bash
-sudo apt-get install -y git-lfs
-git lfs install
+2. Install [Isaac Lab v1.0.0](https://github.com/isaac-sim/IsaacLab/tree/v1.0.0): Refer to the [Installation Guide](https://isaac-sim.github.io/IsaacLab/source/setup/installation/index.html).
 
-cd StrideSim
-git lfs pull
-```
+3. Install StrideSim:
 
-## 꿀팁
+   ```bash
+   git clone https://github.com/AuTURBO/StrideSim.git
+   ```
 
-1. 환경변수 설정
+   ```bash
+   sudo apt-get install -y git-lfs
+   git lfs install
 
-```bash
-# Isaac Sim root directory
-export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.0.0"
-# Isaac Sim python executable
-alias ISAACSIM_PYTHON="${ISAACSIM_PATH}/python.sh"
-# Isaac Sim app
-alias ISAACSIM="${ISAACSIM_PATH}/isaac-sim.sh"
-```
+   cd StrideSim
+   git lfs pull
+   ```
 
-## 사용법
+## Tips
 
-1. 강화학습 라이브러리 설치
+1. Set environment variables:
 
-```bash
-cd rl
-python -m pip install -e .
-```
+   ```bash
+   # Isaac Sim root directory
+   export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.0.0"
+   # Isaac Sim python executable
+   alias ISAACSIM_PYTHON="${ISAACSIM_PATH}/python.sh"
+   # Isaac Sim app
+   alias ISAACSIM="${ISAACSIM_PATH}/isaac-sim.sh"
+   ```
 
-2. 강화학습 단독 실행
+## Usage
 
-```bash
-python rl/train.py --task Template-Isaac-Velocity-Rough-Anymal-D-v0
-```
+1. Install the reinforcement learning library:
 
-3. StrideSim 실행
+   ```bash
+   cd rl
+   python -m pip install -e .
+   ```
 
-3-1. 프로그램 실행
+2. Run reinforcement learning independently:
 
    ```bash
-   # 환경변수 설정 후
-   ISAACSIM
+   python rl/train.py --task Template-Isaac-Velocity-Rough-Anymal-D-v0
    ```
 
-3-2. 확장 프로그램 설정
+3. Run StrideSim:
+
+   3-1. Execute the program:
+
+   ```bash
+   # After setting environment variables
+   ISAACSIM
+   ```
 
-3-2-1. window -> extension 창으로 이동
-3-2-2. 삼지창 버튼을 눌러 확장 프로그램 경로 삽입 (본 프로젝트의 exts까지 넣으면 된다.)
-![alt text](Asset/image.png)
+   3-2. Configure the extension program:
 
-3-2-3. 좌측에 시뮬레이션 버튼을 클릭 (이때, AUTOLOAD를 활성화하면 편하다.)
+   - Navigate to window -> extension.
+   - Click the trident button to insert the extension program path (include up to the exts of this project).
+   - Click the simulation button on the left (enabling AUTOLOAD is convenient).
 
-3-3. 확장 프로그램 실행
-![alt text](Asset/image-1.png)
-이제 Isaac Examples 탭에 StrideSim_AnymalD 탭이 나오는 것을 확인할 수 있다.
+   3-3. Run the extension program:
+   ![Description of image](Asset/readme/image-1.png)
+   You can now see the StrideSim_AnymalD tab in the Isaac Examples tab.
 
-![alt text](Asset/image-2.png)
-버튼을 누르면 위와 같은 장면을 볼수 있고, anymalD를 부르는 것부터해서 학습 및 병렬 실행도 가능하다.
+   ![Description of image](Asset/readme/image-2.png)
+   By clicking the button, you can view scenes like the one above, and perform tasks such as calling anymalD, training, and parallel execution.
 
-## 코드 포맷팅
+## Code Formatting
 
-pre-commit 훅을 사용하여 코드 포맷팅을 자동화합니다.
+pre-commit hook is used to automate code formatting.
 
-pre-commit 설치:
+Install pre-commit:
 
 ```bash
 pip install pre-commit
 ```
 
-pre-commit 실행:
+Run pre-commit:
 
 ```bash
 pre-commit run --all-files
 ```
 
-## Docker
-
-Dockerfile을 통해 컨테이너를 빌드하고 실행할 수 있습니다.
-
-```bash
-docker build -t stride-sim:v0.0.1 docker
-
-docker run --name stride-sim-0.0.1 --entrypoint bash -it --runtime=nvidia --gpus all -e "ACCEPT_EULA=Y" --network=host --privileged \
-    -e "PRIVACY_CONSENT=Y" \
-    -e DISPLAY=$DISPLAY \
-    -v /tmp/.X11-unix:/tmp/.X11-unix \
-    -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
-    -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
-    -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
-    -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
-    -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
-    -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
-    -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
-    -v ~/docker/isaac-sim/documents:/root/Documents:rw \
-    -v /dev/shm:/dev/shm \
-    stride-sim:v0.0.1
-```
-
-## 라이선스
+## License
 
-이 프로젝트는 MIT 라이선스 하에 배포됩니다.
+This project is distributed under the MIT license.