Aaryan0404 / madrona_stock

Madrona Simple Example

This repository contains an implementation of a simple GridWorld environment written in the Madrona Engine.

The purpose of this repository is to provide a bare-minimum starting point for users to build their own simulators with minimal existing logic to get in their way (only one ECS archetype and system). Simply fork this repository, and start adding your own custom state and logic via new ECS components and systems.

Note that this repository doesn't include integration with Madrona's physics or rendering functionality. If you're interested in those features, or are unfamiliar with how to use the engine, please start visit the Madrona Escape Room repository instead for a 3D environment example with plenty of documentation.

Build and Test

First, make sure you have all the dependencies listed here (briefly, recent python and cmake, as well as Xcode or Visual Studio on MacOS or Windows respectively).

Next, fetch the repo (don't forget --recursive!):

git clone --recursive https://github.com/shacklettbp/madrona_simple_example.git
cd madrona_simple_example

Next, for Linux and MacOS: Run cmake and then make to build the simulator:

mkdir build
cd build
cmake ..
make -j # cores to build with
cd ..

Or on Windows, open the cloned repository in Visual Studio and build the project using the integrated cmake functionality.

Now, setup the python components of the repository with pip:

pip install -e . # Add -Cpackages.madrona_simple_example.ext-out-dir=PATH_TO_YOUR_BUILD_DIR on Windows

You can test the simulator as follows (first, install pytorch):

python scripts/run.py 32 # Simulate 32 worlds on the CPU
python scripts/run.py 32 --gpu # Simulate 32 worlds on the GPU