Merge pull request NVlabs#2 from krishpop/iter-grad

Grand merge for project reset
imgeorgiev · Jun 29, 2023 · c276c46 · c276c46
2 parents b93ac36 + dceb755
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diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+    "[python]": {
+        "editor.defaultFormatter": "ms-python.black-formatter"
+    },
+    "python.formatting.provider": "none",
+}
diff --git a/README.md b/README.md
@@ -95,4 +95,16 @@ To test the trained policy, you can input the policy checkpoint into the trainin
 python train_shac.py --cfg ./cfg/shac/ant.yaml --checkpoint ./logs/Ant/shac/policy.pt --play [--render]
 ```
 
-The `--render` flag indicates whether to export the video of the task execution. If does, the exported video is encoded in `.usd` format, and stored in the `examples/output` folder. To visualize the exported `.usd` file, refer to [USD at NVIDIA](https://developer.nvidia.com/usd).
+The `--render` flag indicates whether to export the video of the task execution. If does, the exported video is encoded in `.usd` format, and stored in the `examples/output` folder. To visualize the exported `.usd` file, refer to [USD at NVIDIA](https://developer.nvidia.com/usd).
+
+To install Omniverse, follow the [Omniverse Install Page](https://www.nvidia.com/en-us/omniverse/download/)
+
+- Install [USD Composer](https://www.nvidia.com/en-us/omniverse/apps/create/)
+- Run Create using:
+```$ MESA_GL_VERSION_OVERRIDE=4.6 {OMNI_CREATE_PATH}/omni.create.singlegpu.sh``` where the `OMNI_CREATE_PATH` is `~/.local/share/ov/pkg/create-2022.2.2` updated to your version
+
+
+## Debugging
+
+If you're getting missing cuda libs while building dflex kernels, then do `ln -s $CONDA_PREFIX/lib $CONDA_PREFIX/lib64`
+
diff --git a/ball_env/ball_env_analysis.ipynb b/ball_env/ball_env_analysis.ipynb