IsaacLab_AMP_rl-games

This repository contains both AMP (Adversarial Motion Prior) training environment and rl_games training algorithm for Isaac Lab framework.

Target Readers: Those who want to quickly migrate from Isaac Gym to Isaac Lab.

How to use

1. Install IsaacLab with rl_games (tested in Isaac Sim 4.5.0/ IsaacLab 2.0)
2. Set alias like alias ISAACLAB_SH_PATH="~/IsaacLab/isaaclab.sh"
3. Clone this repository

Motion Viewer

    ISAACLAB_SH_PATH -p ./amp_rlg/motion_viewer.py 

Training

    ISAACLAB_SH_PATH -p ./amp_rlg/train.py --task=AmpHumanoid-AMP-Direct-v1 --headless

Inference

    ISAACLAB_SH_PATH -p ./amp_rlg/play.py --task=AmpHumanoid-AMP-Direct-v1 --num_envs=1 --checkpoint=./assets/pretrained/run.pth

References

This repository borrows code from the following projects:

IsaacGymEnvs : https://github.com/isaac-sim/IsaacGymEnvs

IsaacLab : https://github.com/isaac-sim/IsaacLab