From 6ea264ec27f798831c1691448605505dfd439281 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Sat, 13 Apr 2024 10:54:15 +0200 Subject: [PATCH 1/3] Use relative path in .gitmodules to support users without ssh configured See https://stackoverflow.com/a/48067316/1379427 --- .gitmodules | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index 4efae27d..440ae673 100644 --- a/.gitmodules +++ b/.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 From 493fb92c40b3421ae48ce7d73bf40eb0d5897193 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Sat, 13 Apr 2024 10:56:37 +0200 Subject: [PATCH 2/3] Change README and Makefile to fix workflow for users external to kscale In particular: * Permit to avoid to use private repo kscalelabs/isaacgym.git and rely on local isaacgym * Fix use of & instead of && in install to download stompy model * Fix name of sim/scripts/create_fixed_urdf.py script --- Makefile | 6 ++++++ README.md | 15 +++++++++++++-- 2 files changed, 19 insertions(+), 2 deletions(-) diff --git a/Makefile b/Makefile index 1858d7a4..c0a75d54 100755 --- a/Makefile +++ b/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 diff --git a/README.md b/README.md index 07b128ae..12362048 100755 --- a/README.md +++ b/README.md @@ -26,15 +26,26 @@ make install-dev ``` 3. Install third-party dependencies: + +If you work at kscale and have access to https://github.com/kscalelabs/isaacgym, run: ```bash make install-third-party ``` +Otherwise manually download `IsaacGym_Preview_4_Package.tar.gz` from https://developer.nvidia.com/isaac-gym, and run: +```bash +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 ``` From 29a8d0e551312b089ee8447fc7cfb300fa031698 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Sat, 13 Apr 2024 21:11:30 +0200 Subject: [PATCH 3/3] Document only the workflow for external contributors --- README.md | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/README.md b/README.md index 12362048..32adad75 100755 --- a/README.md +++ b/README.md @@ -27,12 +27,7 @@ make install-dev 3. Install third-party dependencies: -If you work at kscale and have access to https://github.com/kscalelabs/isaacgym, run: -```bash -make install-third-party -``` - -Otherwise manually download `IsaacGym_Preview_4_Package.tar.gz` from https://developer.nvidia.com/isaac-gym, and run: +Manually download `IsaacGym_Preview_4_Package.tar.gz` from https://developer.nvidia.com/isaac-gym, and run: ```bash tar -xvf IsaacGym_Preview_4_Package.tar.gz conda env config vars set ISAACGYM_PATH=`pwd`/isaacgym