A quick start for training and testing

Environment

First download Isaac Gym from the website, then follow the installation instructions.

conda create -n realagent python=3.7 (or 3.7+)
conda activate realagent
pip install -r requirements.txt

Then git clone the code and install the package.

git clone https://github.com/jiemingcui/RealAgent.git
cd YourPath/RealAgent
git clone https://github.com/leggedrobotics/rsl_rl
cd rsl_rl && pip install -e .

Last, adjust the path in the code to make sure the code can find the environment and the model.

sys.path.append("/home/cjm/CALM_related/anyskill++/unitree_rl_gym/")

in legged_gym/scripts/train.py, and legged_gym/scripts/play.py

Train

After environment setting and file organization, you can train the model with the following command:

python ./legged_gym/scripts/train.py --task=h1

Test

After model training and saving, you can test the model with the following command:

python ./legged_gym/scripts/play.py --task=h1