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Repository Setup (Git Submodules)

This repo now tracks its dependent repos as submodules:

  • IsaacLab/
  • RLOpt/
  • ImitationLearningTools/

IsaacLab-Imitation itself remains the top-level repo.

Additionally required (currently not a submodule):

  • unitree_rl_lab/ (sibling repository)

1. Clone with submodules

git clone --recurse-submodules git@github.com:GTLIDAR/IsaacLab-Imitation.git
cd IsaacLab-Imitation

If you already cloned before submodules were added:

git submodule sync --recursive
git submodule update --init --recursive

2. Verify remotes (from current git config)

Run:

git remote -v
git -C IsaacLab remote -v
git -C RLOpt remote -v
git -C ImitationLearningTools remote -v
git -C ../unitree_rl_lab remote -v

Expected default remotes:

  • IsaacLab-Imitation: origin -> git@github.com:GTLIDAR/IsaacLab-Imitation.git
  • IsaacLab: origin -> git@github.com:GTLIDAR/IsaacLab.git
  • RLOpt: origin -> git@github.com:fei-yang-wu/RLOpt.git
  • ImitationLearningTools: origin -> git@github.com:GTLIDAR/ImitationLearningTools.git
  • unitree_rl_lab: origin -> https://github.com/unitreerobotics/unitree_rl_lab.git

2b. Set up unitree_rl_lab (required)

If unitree_rl_lab is missing as a sibling repo:

cd ..
git clone https://github.com/unitreerobotics/unitree_rl_lab.git

Then follow the upstream setup instructions in:

  • ../unitree_rl_lab/README.md

At minimum, run its installation step and required asset/environment setup before training.

Optional extra remotes used in this workspace:

git -C IsaacLab remote add upstream git@github.com:isaac-sim/IsaacLab.git
git -C RLOpt remote add gatech https://github.gatech.edu/GeorgiaTechLIDARGroup/RLOpt.git

3. Update submodules later

git submodule update --init --recursive

To move submodules to newer commits:

git submodule update --remote --recursive
git add IsaacLab RLOpt ImitationLearningTools
git commit -m "Update submodule pins"

4. Cluster note (no conda/venv needed for submission)

For cluster submission, you do not need a local conda/venv for IsaacLab Python packages.

  • Job execution uses /isaac-sim/python.sh inside the container/Apptainer image.
  • Local requirements for submission are mainly Docker, Apptainer, and SSH access to the cluster.

Typical flow:

cd docker/cluster
# edit .env.cluster for cluster paths/login/script
bash cluster_interface.sh push base
bash cluster_interface.sh job --task Isaac-Imitation-G1-Latent-v0 --algo IPMD --headless

Multiple clusters: per-cluster env files and submit scripts are supported. Create docker/cluster/.env.<name> and optionally docker/cluster/submit_job_slurm_<name>.sh, then pass -c <name>:

bash cluster_interface.sh -c ice job --task Isaac-Imitation-G1-Latent-v0 --algo IPMD --headless

If no -c is given, the script auto-selects submit_job_slurm_${CLUSTER_LOGIN}.sh (from .env.cluster) when that file exists, falling back to submit_job_slurm.sh. See docker/README.md for full details.

If your active development clone for RLOpt (or IsaacLab, ImitationLearningTools) is outside this repo, set path overrides in docker/cluster/.env.cluster so cluster jobs sync your working tree directly:

CLUSTER_RLOPT_LOCAL_PATH=/absolute/path/to/RLOpt
# Optional:
# CLUSTER_ISAACLAB_LOCAL_PATH=/absolute/path/to/IsaacLab
# CLUSTER_IMITATION_TOOLS_LOCAL_PATH=/absolute/path/to/ImitationLearningTools

These overrides are used when CLUSTER_EXTRA_SYNC_SPECS is not set. Only the uncommented overrides are synced as overlays. If none are set, the cluster job uses the submodule state from the main IsaacLab-Imitation checkout without extra repo sync. The paths are local paths on the submission machine.

Each job submission also writes a repo manifest to <CLUSTER_ISAACLAB_DIR>/repo_sync_manifest.tsv containing SHA/branch/dirty-state for all synced repos.