Legged Robots Locomotion

This reposity contains:

• Learning-based locomotion control, built upon Isaaclab and rsl_rl
• Sim2sim, built upon mujoco
• Sim2real, built upon unitree_guide
• Robots: legged robots, e.g. Unitree GO1 EDU、Limxdynamics TRON1A

Maintainer: Guohua Zhang

TODO List

• Release the training code.
• Release the sim2sim code.
• Release the deployment code.

Locomotion Learning

Installation

• Install Isaac Lab by following the installation guide. We recommend using the conda installation as it simplifies calling Python scripts from the terminal.

• Clone the repository separately from the Isaac Lab installation (i.e. outside the IsaacLab directory):

# Option 1: HTTPS
git clone https://github.com/guohua-zhang/LeggedRobotsLab

# Option 2: SSH
git clone git@github.com:guohua-zhang/LeggedRobotsLab.git

• Throughout the repository, the name ext_template only serves as an example and we provide a script to rename all the references to it automatically:

# Enter the repository
cd LeggedRobotsLab
# Rename all occurrences of ext_template (in files/directories) to your_fancy_extension_name
python scripts/rename_template.py your_fancy_extension_name

• Using a python interpreter that has Isaac Lab installed, install the library

python -m pip install -e exts/leggedrobotslab

Run

Unitree GO1 Blind v0

python scripts/rsl_rl/train.py --task=Isaac-UnitreeGO1-Blind-Rough-v0 --headless
python scripts/rsl_rl/play.py --task=Isaac-UnitreeGO1-Blind-Rough-Play-v0

Unitree GO1 HandStand v0

python scripts/rsl_rl/train.py --task=Isaac-UnitreeGO1-HandStand-Rough-v0 --headless
python scripts/rsl_rl/play.py --task=Isaac-UnitreeGO1-HandStand-Rough-Play-v0

Unitree GO1 Vision v0

python scripts/rsl_rl_vision/train.py --task=Isaac-UnitreeGO1-Vision-Rough-v0 --headless --use_cnn
python scripts/rsl_rl_vision/play.py --task=Isaac-UnitreeGO1-Vision-Rough-Play-v0 --use_cnn

Limx TRON1A Blind v0

python scripts/rsl_rl/train.py --task=Isaac-PF-Blind-Rough-v0 --headless
python scripts/rsl_rl/play.py --task=Isaac-PF-Blind-Rough-Play-v0

Sim2sim on Mujoco

Refer to Sim2sim_guidance

• Put your own policy into./sim2sim_mujoco/policy/go1/policy.pt
• Run the code:

cd ./sim2sim_mujoco
pip install -r requirements.txt
python unitree_go1_controller_him.py

Deployment on Real Robots

Refer to Real_guidance

Acknowledgements

• IsaacLab: Our codebase is built upon Isaaclab.
• rsl_rl: Our codebase is built upon rsl_rl.
• HIMLoco: Our codebase is referenced from HIMLoco