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maxspahn / gym_envs_urdf

URDF environments for gym
https://maxspahn.github.io/gym_envs_urdf/
GNU General Public License v3.0
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Add Isaac Gym Environment #134

Closed SkyloveQiu closed 1 year ago

c-salmi commented 2 years ago

Hi Qiu,

Heard you were working on this but was not able to test it due to your laptop specs not having enough gpu vram. I'm actually also interested in adding this option. Could you push your work to a dedicated branch for this new feature?

SkyloveQiu commented 2 years ago

Hi chadi: The gym.make function is not working, I did not find a replacement function from the documentation, do you know which function replaces the original gym.make?

SkyloveQiu commented 2 years ago

robots = [ AlbertRobot(mode="vel"), ] env = gym.make( "urdf-env-v0", dt=0.01, robots=robots, render=render )

The code I am referring to.

SkyloveQiu commented 2 years ago

@c-salmi Link this could help I believe

SkyloveQiu commented 2 years ago

@c-salmi start point I have found this VecTask class which could be our start point.

c-salmi commented 2 years ago

@SkyloveQiu Yes exactly their step method implementation would be a good reference to see how we can convert our step from pybullet to isaacgym.

SkyloveQiu commented 2 years ago

Probably we are not going to make our step into issacgymenv, let's implement everything from scratch and build it with openai gym, more people can use our project to replace their pybullet.

maxspahn commented 1 year ago

In a first step, let's separate the physics engine from the rest. I started doing this in https://github.com/maxspahn/gym_envs_urdf/tree/ft-separate-physics-engine

maxspahn commented 1 year ago

Closing as this integration is put on hold in favor of integrating MuJoCo instead.