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A library for simulating [[Stompy ]] in Isaac Gym. This library is built on top of the Isaac Gym library and Humanoid-gym and provides a simple interface for running experiments with Stompy. For a start, we have defined two tasks: getting up and walking. The library is available at [https://github.com/kscalelabs/sim https://github.com/kscalelabs/sim]
We will be adding more tasks and simulator environments in upcoming weeks.
make install-dev
</pre>
Install third-party dependencies:
Manually download IsaacGym_Preview_4_Package.tar.gz from [https://developer.nvidia.com/isaac-gym], and run:
<pre>
tar -xvf IsaacGym_Preview_4_Package.tar.gz
conda env config vars set ISAACGYM_PATH=`pwd`/isaacgym
conda deactivate
conda activate kscale-sim-library
make install-third-party-external
</pre>
== Running Stompy experiments ==
Download our URDF model from here:
<pre>
wget https://media.kscale.dev/stompy/latest_stl_urdf.tar.gz && tar -xzvf latest_stl_urdf.tar.gz
python sim/scripts/create_fixed_torso.py
export MODEL_DIR=stompy
</pre>
Run training with the following command:
<pre>
python sim/humanoid_gym/train.py --task=legs_ppo --num_envs=4096 --headless
</pre>
or for full body:
<pre>
python sim/humanoid_gym/train.py --task=stompy_ppo --num_envs=4096 --headless
</pre>
Run evaluation with the following command:
<pre>
python sim/humanoid_gym/play.py --task legs_ppo --sim_device cpu
</pre>
See this doc for more beginner tips.
== Handling Errors ==
After cloning Isaac Gym, sometimes the bindings mysteriously disappear. To fix this, update the submodule:
<pre>
git submodule update --init --recursive
</pre>
If you observe errors with libpython3.8.so.1.0, you can try the following:
<pre>
export LD_LIBRARY_PATH=PATH_TO_YOUR_ENV/lib:$LD_LIBRARY_PATH
</pre>
If you still see segmentation faults, you can try the following:
<pre>
sudo apt-get install vulkan1
</pre>
Also, see [[Humanoid Gym]] and [[K-Scale Humanoid Gym]]