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!
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.
Clone this repository:
git clone https://github.com/kscalelabs/sim.git cd sim
Create a new conda environment and install the package:
conda create --name kscale-sim-library python=3.8.19 conda activate kscale-sim-library make install-dev