# rl_amp

**Repository Path**: intheposition/rl_amp

## Basic Information

- **Project Name**: rl_amp
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-06-13
- **Last Updated**: 2025-06-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# rl_amp

AMP implementation with minimal changes on legged_gym and rsl_rl

**Code reference: [AMP_for_hardware](https://github.com/Alescontrela/AMP_for_hardware)**

## Setup

Clone the code

```bash
git clone https://github.com/fan-ziqi/rl_amp.git
cd rl_amp
```

Download isaacgym

Build the docker image

```bash
cd rl_docker
bash build.sh
```

Run the docker container

```bash
bash run.sh -g <gpus, should be num 1~9 or all> -d <true/false>
# example: bash run.sh -g all -d true
```

## Usage

Train and play

```bash
python legged_gym/legged_gym/scripts/train.py --task=a1_amp --headless
python legged_gym/legged_gym/scripts/play.py --task=a1_amp
```

Retarget motions

```bash
python datasets/retarget_kp_motions.py
```