update Makefile

.gitignore

@@ -1,5 +1,7 @@
 # .gitignore
 
+# Local files
+.env
 # Python
 *.py[oc]
 __pycache__/

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2023 Benjamin Bolte
+Copyright (c) 2023 KScale Labs
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

Makefile

@@ -5,7 +5,7 @@ kscale-sim-library
 
 # Installing
 
-1. Create a new Conda environment: `conda create --name kscale-sim-library python=3.11`
+1. Create a new Conda environment: `conda create --name kscale-sim-library python=3.8.19`
 2. Activate the environment: `conda activate kscale-sim-library`
 3. Install the package: `make install-dev`
 

README.md

@@ -1,48 +1,78 @@
 # K-Scale Sim Library
+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 upper body being fixed.
+The getting up task is still an open challenge!
+
 
 ## Getting Started
 
 1. Clone this repository:
-
 ```bash
 git clone [email protected]:kscalelabs/sim.git
 cd sim
 ```
 
-2. Install the Isaac Docker image:
-
+2. Create a new conda environment and install the package:
 ```bash
-./sim/scripts/install_isaac_dependencies.sh
+conda create --name kscale-sim-library python=3.8.19
+conda activate kscale-sim-library
+make install-dev
 ```
 
-3. Start the Isaac Docker image in Headless mode (assuming you're working in a server environment):
+3. Install third-party dependencies:
+```bash
+make install-third-party
+```
 
+### Running Stompy experiments
+1. Download our model from
 ```bash
-./sim/scripts/install_isaac_dependencies.sh
-# Inside the Docker container
-./runheadless.native.sh -v
+wget https://media.kscale.dev/stompy.tar.gz & tar -xzvf stompy.tar.gz
+python sim/scripts/create_fixed_stompy.py
+export MODEL_DIR=stompy
 ```
 
-### Notes
+2. Run training with the following command:
+```bash
+python sim/humanoid_gym/train.py --task=legs_ppo --num_envs=4096 --headless
+```
+or for full body:
+```bash
+python sim/humanoid_gym/train.py --task=stompy_ppo --num_envs=4096 --headless
+```
 
-- After cloning Isaac Gym, sometimes the bindings mysteriously disappear. To fix this, update the submodule:
+3. Run evaluation with the following command:
+```bash
+python sim/humanoid_gym/play.py --task legs_ppo --sim_device cpu
+```
 
+### Errors
+After cloning Isaac Gym, sometimes the bindings mysteriously disappear.
+To fix this, update the submodule:
 ```bash
 git submodule update --init --recursive
 ```
 
-- After generating the URDF, for some reason, Isaac Gym has a weird issue with the knee joints. To fix this, you should change the axis of the knee joints from:
-
-```xml
-<axis xyz="0 0 1" />
+If you observe errors with libpython3.8.so.1.0, you can try the following:
+```bash
+export LD_LIBRARY_PATH=PATH_TO_YOUR_ENV/lib:$LD_LIBRARY_PATH
 ```
 
-to
-
-```xml
-<axis xyz="0 0 -1" />
+If you still see segmentation faults, you can try the following:
+```bash
+sudo apt-get vulkan1
 ```
 
-For some reason this doesn't seem to happen for any other joints like the ankle, and also doesn't happen in other simulators like PyBullet.
+### Appreciation
+- [Humanoid-gym](https://sites.google.com/view/humanoid-gym/)
+- [Isaac Gym](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs)
+- KScale Labs community for bugspotting and feedback
 
-It might also be a good idea to remove the `mimic` joints between the motors and the ankles / knees.
+### Discord
+- [Discord](https://discord.com/invite/rhCy6UdBRD)

setup.py

@@ -29,7 +29,7 @@
     name="kscale-sim-library",
     version=version,
     description="Training models in simulation",
-    author="Benjamin Bolte",
+    author="Benjamin Bolte, Pawel Budzianowski",
     url="https://github.com/kscalelabs/sim",
     long_description=long_description,
     long_description_content_type="text/markdown",

sim/env.py

@@ -1,5 +1,4 @@
 """Defines common environment parameters."""
-
 import os
 from pathlib import Path
 
@@ -12,8 +11,13 @@ def run_dir() -> Path:
     return Path(os.environ.get("RUN_DIR", "runs"))
 
 
-def stompy_urdf_path() -> Path:
-    stompy_path = model_dir() / "robots" / "stompy" / "robot.urdf"
+def stompy_urdf_path(legs_only=False) -> Path:
+    if legs_only:
+        stompy_path = model_dir() / "robot_fixed.urdf"
+    else:
+        stompy_path = model_dir() / "robot.urdf"
+
     if not stompy_path.exists():
         raise FileNotFoundError(f"URDF file not found: {stompy_path}")
+
     return stompy_path.resolve()

sim/humanoid_gym/envs/__init__.py

@@ -10,8 +10,14 @@
 import isaacgym
 import torch
 
-from .humanoid_config import StompyCfg, StompyPPO
-from .humanoid_env import StompyFreeEnv
+from .getup_config import GetupCfg, GetupCfgPPO
+from .getup_env import GetupFreeEnv
+
+from .legs_config import LegsCfg, LegsCfgPPO
+from .legs_env import LegsFreeEnv
+
+from .stompy_config import StompyCfg, StompyCfgPPO
+from .stompy_env import StompyFreeEnv
 
 
 def register_tasks() -> None:
@@ -22,7 +28,9 @@ def register_tasks() -> None:
     """
     from humanoid.utils.task_registry import task_registry
 
-    task_registry.register("humanoid_ppo", StompyFreeEnv, StompyCfg(), StompyPPO())
+    task_registry.register("stompy_ppo", StompyFreeEnv, StompyCfg(), StompyCfgPPO())
+    task_registry.register("getup_ppo", GetupFreeEnv, GetupCfg(), GetupCfgPPO())
+    task_registry.register("legs_ppo", LegsFreeEnv, LegsCfg(), LegsCfgPPO())
 
 
 register_tasks()