Developing software and control for IHMC Alex humanoid robot.
Alex scenes are in dir alex-scenes/. Load scene_alex_v1_full_body_mjx_room1.xml to see Alex in a room.
Room scenes from https://github.com/allenai/molmospaces.
pip install mujoco gymnasium stable_baselines
Also requires mjlab from e-Lab for some envs.
You can run alex model by dragging / dropping this file into MuJoCo. Or any file in that directory scenes/alex-scenes/
OR you can run with:
python -m mujoco.viewer --mjcf Alex-robot/scenes/alex-scenes/scene_alex_v1_full_body_mjx_ec1.xml
You will get this:
We can train VERY efficiently with mjlab. Use this fork to train RL algorithms on your NVIDIA GPU PC. See readme there.
For pure MuJoCo RL training, see this file.