torobo_mujoco

Installation

Install MuJoCo

Python 3.8 or higher is required.

For more information, please refer to https://github.com/google-deepmind/mujoco .

pip install mujoco

Install torobo_mujoco

git clone https://github.com/TokyoRobotics/torobo_mujoco.git
cd torobo_mujoco

Test

cd example
python example_torobo2.py

Move joints by dragging in Control tab.

Example motion

Pitching motion

※ There is a problem with the timing of the ball release differing depending on the computer environment. If you have any solutions, please let us know in the GitHub discussions.

cd example
python example_torobo2_pitching.py

Play with the trained policy in Isaac Sim (Reinforcement Learning Sim2Sim)

Install related python packages

pip install -r example_rl_play/requirements.txt

Bipedal walk

※ leg_v1 model is now under research and development and is not currently scheduled for sale.

cd example_rl_play
python bipedal_walk.py