Wiki-GRx-Mujoco

Wiki-GRx-Mujoco provides code implementation for RL policy verification and visualization of the Fourier N1 robot based on Mujoco.

[!NOTE] Due to version updates of Mujoco, its python development methods have changed significantly, therefore, it is impossible to be compatible with all versions. This repository is mainly developed and tested based on the latest Mujoco 3.x.x version.

Related Resources

• Mujoco: https://mujoco.org/
• pytorch: https://pytorch.org/

Installation Guide

1. Install Ubuntu 20.04 / Ubuntu 22.04 system

2. Conda Environment Configuration

   # Install Miniconda
   cd ~/Downloads
   wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
   bash Miniconda3-latest-Linux-x86_64.sh
   
   # Create training environment
   conda create -n wiki-grx-mujoco python=3.11 -y
   conda activate wiki-grx-mujoco

3. Dependency Installation

   pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple

Usage Instructions

1. Start Simulation

   python main.py --robot=N1