Merge pull request #3 from traversaro/fixexternalusers

Fixes to simplify the use of the repo for users external to K-Scale Labs

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "third_party/isaacgym"]
 	path = third_party/isaacgym
-	url = git@github.com:kscalelabs/isaacgym.git
+	url = ../../kscalelabs/isaacgym.git
 [submodule "third_party/humanoid-gym"]
 	path = third_party/humanoid-gym
-	url = git@github.com:kscalelabs/humanoid-gym.git
+	url = ../../kscalelabs/humanoid-gym.git

Makefile

@@ -55,6 +55,12 @@ install-third-party:
 	@cd third_party/isaacgym/python/ && pip install --verbose -e .
 	@cd third_party/humanoid-gym && pip install --verbose -e .
 
+install-third-party-external:
+	@git submodule update --init third_party/humanoid-gym
+	@cd ${ISAACGYM_PATH}/python/ && pip install --verbose -e .
+	@cd third_party/humanoid-gym && pip install --verbose -e .
+
+
 build-ext:
 	@python setup.py build_ext --inplace
 .PHONY: build-ext

README.md

@@ -26,15 +26,21 @@ make install-dev
 ```
 
 3. Install third-party dependencies:
+
+Manually download `IsaacGym_Preview_4_Package.tar.gz` from https://developer.nvidia.com/isaac-gym, and run:
 ```bash
-make install-third-party
+tar -xvf IsaacGym_Preview_4_Package.tar.gz
+conda env config vars set ISAACGYM_PATH=`pwd`/isaacgym
+conda deactivate
+conda activate kscale-sim-library
+make install-third-party-external
 ```
 
 ### Running Stompy experiments
 1. Download our model from
 ```bash
-wget https://media.kscale.dev/stompy.tar.gz & tar -xzvf stompy.tar.gz
-python sim/scripts/create_fixed_stompy.py
+wget https://media.kscale.dev/stompy.tar.gz && tar -xzvf stompy.tar.gz
+python sim/scripts/create_fixed_urdf.py
 export MODEL_DIR=stompy
 ```