Alex robot

Developing software and control for IHMC Alex humanoid robot.

Scenes

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.

Install

pip install mujoco gymnasium stable_baselines

Run

MuJoCo

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:

RL learning

See this file.

References

IHMC Alex