Merge pull request #2 from ut-amrl/cleanup

Cleanup - update readem, remove print commands, update docs
ut-amrl · Mar 10, 2023 · 4d4edad · 4d4edad
2 parents 7ad3b99 + 9fdc6d2
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diff --git a/.gitmodules b/.gitmodules
@@ -1,18 +1,24 @@
 [submodule "submodules/ut_multirobot_sim"]
 	path = submodules/ut_multirobot_sim
 	url = https://github.com/ut-amrl/ut_multirobot_sim.git
+	ignore = dirty
 [submodule "submodules/graph_navigation"]
 	path = submodules/graph_navigation
 	url = https://github.com/ut-amrl/graph_navigation.git
+	ignore = dirty
 [submodule "submodules/amrl_msgs"]
 	path = submodules/amrl_msgs
 	url = https://github.com/ut-amrl/amrl_msgs.git
+	ignore = dirty
 [submodule "submodules/amrl_maps"]
 	path = submodules/amrl_maps
 	url = https://github.com/ut-amrl/amrl_maps.git
+	ignore = dirty
 [submodule "submodules/pips"]
 	path = submodules/pips
 	url = https://github.com/ut-amrl/pips.git
+	ignore = dirty
 [submodule "submodules/pedsim_ros/src/pedsim_ros"]
 	path = submodules/pedsim_ros/src/pedsim_ros
 	url = https://github.com/simon-andrews/pedsim_ros.git
+	ignore = dirty
diff --git a/README.md b/README.md
@@ -1,9 +1,53 @@
-# SocialGym 2.0
-## SocialGym2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces
+ <!-- <h1 style="text-align: center;"> SocialGym 2 </h1> -->
 
-This is the codebase for our multi-agent simulator for real world robots for social navigation. 
+<p align="center">
+  <img src="https://drive.google.com/uc?id=1F1hEwQiFuwT7OGwYrJ6t8O9NqrlNk4RH" width="400" />
+</p>
 
-Find the documentation (currently under active development) at https://amrl.cs.utexas.edu/social_gym/index.html
+This is the codebase for our multi-agent simulator for real world social navigation. Installation instructions ca be found below. Tutorials are provided in the [**documentation**](https://amrl.cs.utexas.edu/social_gym/index.html) (currently under active development).
+
+<!-- 
+<p align="center">
+  <img src="https://obj.umiacs.umd.edu/badue-accepted/sim_demo.gif" width="400" />
+</p> -->
+# Read the paper 
+ [**SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces**]()
+
+<br>
+
+# Installation
+
+**Note**: We require you have installed Docker and Python 3.8 (version 3.8 may not be necessary but it's what we use)
+
+**WARNING**: The authors of this project have had numerous issues with Docker and Docker-Compose when installed via snap.  We recommend uninstalling docker and docker-compose if you have GPU-related issues with the docker images and installing them via `apt`.
+
+---
+
+### 1.) Clone the repo and checkout main
+
+```shell
+git clone [email protected]:ut-amrl/social_gym.git
+git checkout main
+```
+
+### 2.) Install requirements and run the install script
+
+```shell
+python3 ./scripts/install_config_runner.py
+```
+
+### 3.) Run the Config Runner!
+
+```shell
+python3 config_runner/run.py -c 1_31_23/door/sacadrl.json
+```
+
+This should open an RVIS window (looks like a 2D grid with options on the side-panels). If you do NOT see this window, there's a problem with the docker file. First try running
+```shell
+sudo xhost +
+```
+and repeat the command.  If it still fails to show windows then try adding `--network host`
+to the file `{PROJECT_ROOT}/config_runner/run.sh` on lines where we are setting docker environment variables. Otherwise, look up stuff like "cannot display window from docker container" -- this is critical for Social Gym to work.
 
 ## If you use this code, please cite the following
 ---

diff --git a/config_runner/configs/1_31_23/door/sacadrl.json b/config_runner/configs/1_31_23/door/sacadrl.json
@@ -15,7 +15,7 @@
 
   "run_name": "1_31_23/door/sacadrl_1",
   "run_type": "SACADRL",
-  "device": "cuda:1",
+  "device": "cuda:0",
 
   "other_velocities_obs": true,
   "agent_velocity_obs": true,

diff --git a/docs/.buildinfo b/docs/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 3d11c1b419095fa5e8888f76408e859f
+config: 42c756fe409f51a6f22e850571573aa9
 tags: 645f666f9bcd5a90fca523b33c5a78b7
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diff --git a/...v/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.doctree b/...v/lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/base.doctree
diff --git a/.../lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.doctree b/.../lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/class.doctree
diff --git a/...lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.doctree b/...lib64/python3.8/site-packages/sphinx/ext/autosummary/templates/autosummary/module.doctree
diff --git a/docs/_site/contributing/making_docs.html b/docs/_site/contributing/making_docs.html
@@ -0,0 +1,132 @@
+<!DOCTYPE html>
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+<li class="toctree-l1"><a class="reference internal" href="../../intro/features.html">What’s new in Social Gym 2.0 from the original release?</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../intro/making_a_new_scene.html">How to make a new Scene</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../intro/training_and_eval.html">Training and Evaluation with ConfigRunner</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../intro/advanced_training_and_eval.html">Advanced Training and Evaluation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../contributing/making_docs.html">Making docs</a></li>
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+      <li class="breadcrumb-item active">Making docs</li>
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+            <a href="../../_sources/_site/contributing/making_docs.md.txt" rel="nofollow"> View page source</a>
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+
+  <section id="making-docs">
+<h1>Making docs<a class="headerlink" href="#making-docs" title="Permalink to this headline"></a></h1>
+<p>The source code for all the documentation can be found in <code class="docutils literal notranslate"><span class="pre">{PROJECT_ROOT}/docs_src</span></code></p>
+<p>We use <a class="reference external" href="https://www.sphinx-doc.org/en/master/">Sphinx</a> to create our documentation and host it in Github Pages.</p>
+<p>Check out <code class="docutils literal notranslate"><span class="pre">docs_src/index.rst</span></code> for the layout of the pages (starting on line 6).  That file will point to the source doc
+for each of the pages on the site.  Everything is written in markdown currently, so when you find the <code class="docutils literal notranslate"><span class="pre">.md</span></code> file, you
+can add/change/create new pages in markdown.</p>
+<p>Creating a new doc requires that you make a <code class="docutils literal notranslate"><span class="pre">filename.md</span></code> and then point to it in the <code class="docutils literal notranslate"><span class="pre">index.rst</span></code> file (similar to the
+previous docs).</p>
+<p>You can use <code class="docutils literal notranslate"><span class="pre">./auto_build.sh</span></code> to see your changes to the documentation site live (it will update your local version
+as you save files.) The service is usually hosted on http://127.0.0.1:8000 but it will also tell you where the local
+version of the site is.</p>
+<section id="uploading-changes">
+<h2>Uploading changes<a class="headerlink" href="#uploading-changes" title="Permalink to this headline"></a></h2>
+<section id="run-build-sh">
+<h3>1.) Run <code class="docutils literal notranslate"><span class="pre">./build.sh</span></code><a class="headerlink" href="#run-build-sh" title="Permalink to this headline"></a></h3>
+</section>
+<section id="run-git-add-sh">
+<h3>2.) Run <code class="docutils literal notranslate"><span class="pre">./git_add.sh</span></code><a class="headerlink" href="#run-git-add-sh" title="Permalink to this headline"></a></h3>
+</section>
+<section id="the-files-are-now-staged-in-git-you-can-do">
+<h3>3.) The files are now staged in git, you can do<a class="headerlink" href="#the-files-are-now-staged-in-git-you-can-do" title="Permalink to this headline"></a></h3>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>git commit -m <span class="s2">&quot;Doc changes&quot;</span>
+git push
+</pre></div>
+</div>
+<p>and the website should update within the next 5-10minutes.</p>
+</section>
+</section>
+</section>
+
+
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