MyWork

Installation and Execution Guide

1. Clone Repository

# Install Git LFS if not already installed
sudo apt update && sudo apt install git-lfs -y

# Initialize Git LFS
git lfs install

# Clone repository (including LFS files)
git clone https://github.com/KimDoYoung1997/MyWork.git
cd MyWork

2. Install Required Packages

# Create conda environment
conda create -n env_isaaclab python=3.11

# Activate environment
conda activate env_isaaclab

# Upgrade pip
pip install --upgrade pip

# Install PyTorch with CUDA support
pip install torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128

# Install Isaac Sim
pip install "isaacsim[all,extscache]==5.0.0" --extra-index-url https://pypi.nvidia.com

# Install additional required packages
pip3 install onnx
pip3 install mujoco
pip3 install onnxruntime

3. Execution

# Activate conda environment first
conda activate env_isaaclab

# Example: Run with specific motion and policy
python main.py --motion_file dance1_subject2 --policy dance1_subject2_woSE_5500 --duration 100

# Show help
python main.py --help

Available Options:

• --motion_file: Motion file name (without extension, default: dance1_subject1)
• --policy: Policy file name (without extension, default: dance1_subject1)
• --duration: Simulation duration in seconds (default: 30.0)

Available Motion Files:

• dance1_subject1
• dance1_subject2
• fight1_subject2
• fallAndGetUp1_subject1
• fallAndGetUp2_subject2
• sprint1_subject4

Policy Naming Convention:

• Standard: {motion_name}_policy (e.g., dance1_subject2)
• woSE variant: {motion_name}_woSE_{iteration} (e.g., dance1_subject2_woSE_5500)
  • woSE (without State Estimation): Trained without motion_anchor_pos_b (3D) and base_lin_vel (3D) observations

Project Structure

MyWork/
├── config/                # Configuration files
├── modules/               # Python modules
├── npzs/                  # Motion data files
├── performance_plots/     # Performance analysis plots
├── policies/              # Trained policy files
├── unitree_description/   # Unitree robot files
└── main.py     # Unified main script

Reference

• Whole Body Tracking
• Unitree MuJoCo