465
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Changes
→Stompy expertiments setup
make install-third-party-external
</pre>
== Running Stompy experiments ==
Download our URDF model from here:
<pre>
wget https://media.kscale.dev/stompy/latest_stl_urdf.tar.gz && tar -xzvf latest_stl_urdf.tar.gz
python sim/scripts/create_fixed_torso.py
export MODEL_DIR=stompy
</pre>
Run training with the following command:
<pre>
python sim/humanoid_gym/train.py --task=legs_ppo --num_envs=4096 --headless
</pre>
or for full body:
<pre>
python sim/humanoid_gym/train.py --task=stompy_ppo --num_envs=4096 --headless
</pre>
Run evaluation with the following command:
<pre>
python sim/humanoid_gym/play.py --task legs_ppo --sim_device cpu
</pre>
See this doc for more beginner tips.
