rl_amp

AMP implementation with minimal changes on legged_gym and rsl_rl

Code reference: AMP_for_hardware

Setup

Clone the code

git clone https://github.com/fan-ziqi/rl_amp.git
cd rl_amp

Download isaacgym

Build the docker image

cd rl_docker
bash build.sh

Run the docker container

bash run.sh -g <gpus, should be num 1~9 or all> -d <true/false>
# example: bash run.sh -g all -d true

Usage

Train and play

python legged_gym/legged_gym/scripts/train.py --task=a1_amp --headless
python legged_gym/legged_gym/scripts/play.py --task=a1_amp

Retarget motions

python datasets/retarget_kp_motions.py