kirilllzaitsev/quadruped_locomotion_project

Quadruped locomotion via model-based RL

Prerequisites

• Python 3.8
• Isaac Gym
• (Optional) Docker

Installation

Optionally, pull the docker image from Docker Hub via docker pull knotnote/leggedgym:latest.

Usage

Docker

Start a docker container via:

docker run -it --net=host \
  --gpus all --env="NVIDIA_DRIVER_CAPABILITIES=all" \
  --env="QT_X11_NO_MITSHM=1" \
  --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
  knotnote/leggedgym:latest