TienKung-Lab

下载源码

git clone https://github.com/Open-X-Humanoid/TienKung-Lab.git
cd TienKung-Lab
sudo chown -R ${USER}:${USER} /usr/local/lib/python3.10/dist-packages
pip install -e . --user
pip install -e rsl_rl --user
pip install "isaacsim[all,extscache]==4.5.0.0"

训练：

#无可视化
python3 legged_lab/scripts/train.py --task=walk  --logger=tensorboard --headless --num_envs=1
#增加可视化：
python3 legged_lab/scripts/train.py --task=walk --logger=tensorboard --num_envs=1

或：

git clone https://github.com/isaac-sim/IsaacLab.git
./IsaacLab/isaaclab.sh -p legged_lab/scripts/train.py --task=walk --logger=tensorboard --num_envs=1