Demo

Demo locomotion after 1000 epos:

We test our codes under the following environment:

• Ubuntu 20.04
• NVIDIA Driver: 525.147.05
• CUDA 12.0
• Python 3.7.16
• PyTorch 1.10.0+cu113
• Isaac Gym: Preview 4
• 4090

1. Create an environment and install PyTorch:

• conda create -n himloco python=3.7.16
• conda activate himloco
• pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html

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/dancher00/him-humanoid-h1.git
• cd him-humanoid-h1

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 --task=h1

2. Play and export the latest policy:

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