experimenting with controllers for physics-simulated humanoids
- Install pixi
- If using isaacgym:
- install isaacgym from here (preview 4)
- extract it to this repository
- run:
patch -u packages/isaacgym/python/setup.py -i scripts/isaacgym_setup.patch
- enter shell with
pixi shellpixi run skillmimic --test --task SkillMimicBallPlay --num_envs 16 \
--cfg_env skillmimic/data/cfg/skillmimic.yaml \
--cfg_train skillmimic/data/cfg/train/rlg/skillmimic.yaml \
--motion_file skillmimic/data/motions/BallPlay-M/layup \
--checkpoint skillmimic/data/models/mixedskills/nn/skillmimic_llc_new.pth