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K-Scale Sim Library

640 bytes added, 22 May

→‎Stompy expertiments setup

make install-third-party-external

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== 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

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Run training with the following command:

<pre>

python sim/humanoid_gym/train.py --task=legs_ppo --num_envs=4096 --headless

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or for full body:

<pre>

python sim/humanoid_gym/train.py --task=stompy_ppo --num_envs=4096 --headless

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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.

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