467
edits
Changes
no edit summary
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.
</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]]