cd robot_learning/src/jax/envs
mjpython biped_test.py
Note: on MacOS you will likely need to whitelist both the terminal and the mjpython executable for input monitoring. In System Settings, navigate to Privacy & Security -> Input Monitoring, then add your terminal and mjpython (cmd+shift+G in the file browser will let you add a path).
Tested on Python 3.12.
pip3 install -r requirements.txt
pip3 install -e .
cd src/jax
python3 train.py
Inference: test.ipynb
robot_learning
└── src
└── jax
└── biped.py (Biped in Jax)
└── train.py (Train PPO on Biped)
└── test.ipynb (Jupyter notebook for testing)
└── mjx_env.py (file taken from mujoco-playground and modified)
└── wrapper.py (file taken from mujoco-playground and modified)
└── randomize.py (domain randomization)
└── utils.py (utils)
└── assets
└── biped (biped)
└── tests
This project uses/derives from MuJoCo Playground (Apache 2.0) by Google DeepMind.