Humanoid Support

Make sure you have demonstrations (e.g. mabaoguo.pkl) and the policy network checkpoint (e.g. policy_jit.pt) in data_isaaclab/source_data_isaaclab/humanoid

Then, run the command to launch the humanoid environment (whole-body control with huamnoid poses):

python src/scripts/run_policy.py --task humanoid.humanoid_pose --num_envs 4