K-Scale Sim Library - Revision history

Vrtnis at 20:18, 22 May 2024

2024-05-22T20:18:41Z

2024-05-22T20:16:23Z

‎add wiki-links

2024-05-22T19:08:27Z

2024-05-22T19:04:02Z

‎Errors

2024-05-22T19:03:45Z

2024-05-22T19:02:56Z

‎Stompy expertiments setup

2024-05-22T19:01:09Z

2024-05-22T19:00:26Z

2024-05-22T18:59:03Z

2024-05-22T18:58:20Z

← Older revision		Revision as of 20:18, 22 May 2024
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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.	+	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.		We will be adding more tasks and simulator environments in upcoming weeks.

← Older revision		Revision as of 20:16, 22 May 2024
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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.	+	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.

	We will be adding more tasks and simulator environments in upcoming weeks.		We will be adding more tasks and simulator environments in upcoming weeks.

← Older revision		Revision as of 19:08, 22 May 2024
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	sudo apt-get install vulkan1		sudo apt-get install vulkan1
	</pre>		</pre>
		+
		+	Also, see [[Humanoid Gym]] and [[K-Scale Humanoid Gym]]

@@ Line 53: / Line 53: @@
-== Errors ==
+== Handling Errors ==
 After cloning Isaac Gym, sometimes the bindings mysteriously disappear. To fix this, update the submodule:
 <pre>

← Older revision		Revision as of 19:03, 22 May 2024
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	</pre>		</pre>
	See this doc for more beginner tips.		See this doc for more beginner tips.
		+
		+
		+	== 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>

← Older revision		Revision as of 19:02, 22 May 2024
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	make install-third-party-external		make install-third-party-external
	</pre>		</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.

@@ Line 19: / Line 19: @@
 conda activate kscale-sim-library
 make install-dev
 </pre>

← Older revision		Revision as of 19:00, 22 May 2024
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	== Getting Started ==		== Getting Started ==
	This repository requires Python 3.8 due to compatibility issues with underlying libraries. We hope to support more recent Python versions in the future.		This repository requires Python 3.8 due to compatibility issues with underlying libraries. We hope to support more recent Python versions in the future.
		+
		+
		+	Clone this repository:
		+	<pre>
		+	git clone https://github.com/kscalelabs/sim.git
		+	cd sim
		+	</pre>
		+	Create a new conda environment and install the package:
		+	<pre>
		+	conda create --name kscale-sim-library python=3.8.19
		+	conda activate kscale-sim-library
		+	make install-dev
		+	</pre>

← Older revision		Revision as of 18:59, 22 May 2024
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	The walking task works reliably with the upper body being fixed. The getting up task is still an open challenge!		The walking task works reliably with the upper body being fixed. The getting up task is still an open challenge!
		+
		+	== Getting Started ==
		+	This repository requires Python 3.8 due to compatibility issues with underlying libraries. We hope to support more recent Python versions in the future.

← Older revision		Revision as of 18:58, 22 May 2024
Line 1:		Line 1:
	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.		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.
		+
		+	We will be adding more tasks and simulator environments in upcoming weeks.
		+
		+	The walking task works reliably with the upper body being fixed. The getting up task is still an open challenge!