参考自unitree_rl_lab

训练与测试

python scripts/rsl_rl/train.py --task=Unitree-PM01-Mimic --num_envs=4096 --headless --video --video_length 200 --video_interval 10000

python scripts/rsl_rl/play.py --task Unitree-PM01-Mimic --num_envs=8 --checkpoint

python scripts/rsl_rl/export_IODescriptors.py --task=Unitree-PM01-Mimic --output_dir ./io_descriptors

python -m tensorboard.main --logdir

动作转换

python scripts/mimic/csv_to_npz_pm01.py --input_fps 30 -f path_to_input.csv

obs

[INFO] Observation Manager: <ObservationManager> contains 2 groups.
+-----------------------------------------------------------+
| Active Observation Terms in Group: 'policy' (shape: (129,)) |
+-----------+-----------------------------------+-----------+
|   Index   | Name                              |   Shape   |
+-----------+-----------------------------------+-----------+
|     0     | motion_command                    |   (48,)   |
|     1     | motion_anchor_ori_b               |    (6,)   |
|     2     | base_ang_vel                      |    (3,)   |
|     3     | joint_pos_rel                     |   (24,)   |
|     4     | joint_vel_rel                     |   (24,)   |
|     5     | last_action                       |   (24,)   |
+-----------+-----------------------------------+-----------+