• Overview
• Installation
  • Docker Installation (Recommended)
  • Local Installation
• Tips
• Usage

StrideSim is a project based on Isaac Lab. This repository is designed to allow development in an independent environment outside the core repository of Isaac Lab.

You can build and run the container using the Dockerfile.

Docker Installation Guide

1. Install Isaac Sim 4.0.0: Refer to the Installation Guide.

2. Install Isaac Lab v1.0.0: Refer to the Installation Guide.

3. Install StrideSim:

   git clone https://github.com/AuTURBO/StrideSim.git

   sudo apt-get install -y git-lfs
   git lfs install
   
   cd StrideSim
   git lfs pull

1. Set environment variables:

   # Isaac Sim root directory
   export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.0.0"
   # Isaac Sim python executable
   alias ISAACSIM_PYTHON="${ISAACSIM_PATH}/python.sh"
   # Isaac Sim app
   alias ISAACSIM="${ISAACSIM_PATH}/isaac-sim.sh"

1. Install the reinforcement learning library:

   cd rl
   python -m pip install -e .

2. Run reinforcement learning independently:

   python rl/train.py --task Template-Isaac-Velocity-Rough-Anymal-D-v0

3. Run StrideSim:

   3-1. Execute the program:

   # After setting environment variables
   ISAACSIM

   3-2. Configure the extension program:

   • Navigate to window -> extension.
   • Click the trident button to insert the extension program path (include up to the exts of this project).
   • Click the simulation button on the left (enabling AUTOLOAD is convenient).

   3-3. Run the extension program: You can now see the StrideSim_AnymalD tab in the Isaac Examples tab.

   By clicking the button, you can view scenes like the one above, and perform tasks such as calling anymalD, training, and parallel execution.

pre-commit hook is used to automate code formatting.

Install pre-commit:

pip install pre-commit

Run pre-commit:

pre-commit run --all-files

This project is distributed under the MIT license.