新疆大学创新实验室仿生足式实验室RL运动控制

训练环境准备

克隆仓库

git clone --recursive https://github.com/XjuHurricaneQuadVision/HIMLoco

使用Docker构建训练环境

进入HIMLoco根目录下，执行如下命令：

sudo chmod +x docker/build.sh
./docker/build.sh

如果没有构建过容器，执行该脚本会自动构建容器，如果构建过，会自动进入容器。 如果想删除本地镜像以及容器，执行如下命令：

./docker/build.sh -c

本地安装训练环境

以下README正在维护..........

Installation

2. Install Isaac Gym:

• Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym
• cd isaacgym/python && pip install -e .

3. Clone this repository.

• git clone https://github.com/OpenRobotLab/HIMLoco.git
• cd HIMLoco

4. Install HIMLoco.

• cd rsl_rl && pip install -e .
• cd ../legged_gym && pip install -e .

Note: Please use legged_gym and rsl_rl provided in this repo, we have modefications on these repos.

Tutorial

1. Train a policy:

• cd legged_gym/legged_gym/scripts
• python train.py

2. Play and export the latest policy:

• cd legged_gym/legged_gym/scripts
• python play.py