This project is a fork of roboterax/humanoid-gym.
video: https://www.youtube.com/watch?v=a2n3hRnzHaw
- Generate a new Python virtual environment with Python 3.8 using
conda create -n myenv python=3.8. - For the best performance, we recommend using NVIDIA driver version 525
sudo apt install nvidia-driver-525. The minimal driver version supported is 515. If you're unable to install version 525, ensure that your system has at least version 515 to maintain basic functionality. - Install PyTorch 1.13 with Cuda-11.7:
conda install pytorch==1.13.1 torchvision==0.14.1 torchaudio==0.13.1 pytorch-cuda=11.7 -c pytorch -c nvidia
- Install numpy-1.23 with
conda install numpy=1.23. - Install Isaac Gym:
- Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym.
cd isaacgym/python && pip install -e .- Run an example with
cd examples && python 1080_balls_of_solitude.py. - Consult
isaacgym/docs/index.htmlfor troubleshooting.
- Install bipedal-gym:
- Clone this repository.
cd bipedal-gym && pip install -e .
The urdf files of subo and stob are creations of HRR Lab and are not shared.
If you have urdf files of subo and stob, you can save the file to this path "bipedal-gym/resources/robots" and run it.
# train cassie
python scripts/train.py --task=cassie_ppo
# play cassie
python scripts/play.py --task=cassie_ppo
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# train subo
python scripts/train.py --task=subo_ppo
# play subo
python scripts/play.py --task=subo_ppo
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# train stob
python scripts/train.py --task=stob_ppo
# play stob
python scripts/play.py --task=stob_ppo