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feat: add Go1 training and MuJoCo deployment

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youyuan.chen
2026-07-26 00:40:06 +08:00
parent 28b4516d22
commit 0d2afbf2bb
26 changed files with 2378 additions and 3 deletions
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.gitattributes vendored Normal file
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deploy/deploy_mujoco/deploy_go2.py whitespace=cr-at-eol

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README.md
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@@ -134,6 +134,10 @@ python scripts/rsl_rl/train.py --task=RobotLab-Go2-v0 --headless
python scripts/rsl_rl/play.py --task=RobotLab-Go2-v0
```
The Go1 adaptation is available on the `go1` branch as
`RobotLab-Go1-v0`; see [docs/go1.md](docs/go1.md) for its training, export,
observation, and MuJoCo deployment details.
---
### Training with RoboGauge Evaluation

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deploy/deploy_mujoco/configs/go1.yaml Normal file
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policy_path: "{ROOT_DIR}/deploy/pre_train/go1/policy.pt"
xml_path: "{ROOT_DIR}/resources/go1/stairs_and_slope.xml"
render_fps: 300
video_fps: 60
save_video: false
simulation_duration: 60000000.0
simulation_dt: 0.002
control_decimation: 10
base_init_pos: [0.0, 0.0, 0.34]
base_init_quat: [1.0, 0.0, 0.0, 0.0]
# Deployment defaults to no extra delay. Training randomizes 0-4 physics steps;
# this script's delay buffer is measured in 20 ms policy steps instead.
actuator_delay_min: 0
actuator_delay_max: 0
actuator_delay_seed: 0
kps: [28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0]
kds: [0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7]
default_angles: [-0.1, 0.8, -1.5, 0.1, 0.8, -1.5,
-0.1, 1.0, -1.5, 0.1, 1.0, -1.5]
lin_vel_scale: 2.0
ang_vel_scale: 0.25
dof_pos_scale: 1.0
dof_vel_scale: 0.05
action_pos_scale: 0.25
cmd_scale: [1.0, 1.0, 1.0]
num_actions: 12
num_obs: 45
max_cmd: [1.0, 1.0, 1.0]
cmd_init: [0.5, 0.0, 0.0]
history_len: 10
mujoco_joint_names: &joint_names
[FR_hip_joint, FR_thigh_joint, FR_calf_joint,
FL_hip_joint, FL_thigh_joint, FL_calf_joint,
RR_hip_joint, RR_thigh_joint, RR_calf_joint,
RL_hip_joint, RL_thigh_joint, RL_calf_joint]
model_joint_names: *joint_names

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deploy/deploy_mujoco/deploy_go1.py Normal file
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"""Run an exported Go1 CTS policy in MuJoCo.
The model, observations, actions, and MuJoCo actuators all use the Unitree SDK
joint order: FR, FL, RR, RL. The exported policy maintains its own history and
therefore consumes one 45-dimensional observation frame per call.
"""
from deploy_go2 import main
if __name__ == "__main__":
main("go1.yaml")

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deploy/deploy_mujoco/deploy_go2.py
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@@ -12,6 +12,8 @@ Notes:
This script currently uses CONFIG_NAME = "go2.yaml" and does not expose CLI flags.
"""
from __future__ import annotations
import time
from pathlib import Path
@@ -95,9 +97,9 @@ def build_single_obs(features: dict[str, np.ndarray], layout: list[tuple[str, in
return np.concatenate([features[name] for name, _ in layout], axis=0).astype(np.float32, copy=False)
def main() -> None:
def main(config_name: str = CONFIG_NAME) -> None:
"""Run MuJoCo simulation and deploy the CTS policy in closed-loop control."""
cfg = load_config(CONFIG_NAME)
cfg = load_config(config_name)
layout = [
("ang_vel", 3),
("gravity", 3),

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deploy/deploy_mujoco/utils.py
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"""Shared helpers for MuJoCo deployment scripts."""
from __future__ import annotations
from collections import deque
from pathlib import Path
from types import SimpleNamespace

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docs/go1.md Normal file
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# Go1 Adaptation
The `go1` branch adds the `RobotLab-Go1-v0` IsaacLab task and a matching
MuJoCo deployment. It uses the complete Unitree Go1 URDF/MuJoCo model.
## Interface
- Policy joint order: `FR, FL, RR, RL`, with hip, thigh, calf for each leg.
- Single-frame observation: 45 values in this order:
body angular velocity (3), projected gravity (3), velocity command (3),
relative joint position (12), joint velocity (12), previous action (12).
- Actor history: 10 frames, or 450 values.
- Action: 12 normalized joint-position offsets, scaled by `0.25 rad` and added
to the default joint angles.
- Policy frequency: 50 Hz (`0.005 s` physics step and decimation 4).
- PD gains: `Kp=28`, `Kd=0.7`; torque is limited to `33.5 Nm`.
- Training randomizes actuator delay over 0-4 physics steps (0-20 ms). The
MuJoCo config defaults to zero extra delay because its delay setting is in
20 ms policy steps.
## Train
Install the editable packages as described in the main README, then run:
```bash
cd go2_rl_robotlab
python scripts/rsl_rl/train.py \
--task=RobotLab-Go1-v0 \
--num_envs=4096 \
--max_iterations=5000 \
--headless
```
## Play And Export
`play.py` exports both `policy.pt` and `policy.onnx` into the checkpoint run's
`exported/` directory before starting the rollout.
```bash
python scripts/rsl_rl/play.py \
--task=RobotLab-Go1-v0 \
--num_envs=64 \
--checkpoint=/absolute/path/to/model_5000.pt
```
## MuJoCo
Place the exported TorchScript file at
`deploy/pre_train/go1/policy.pt`, or edit `policy_path` in
`deploy/deploy_mujoco/configs/go1.yaml`. Then run:
```bash
MUJOCO_GL=glfw python deploy/deploy_mujoco/deploy_go1.py
```
Set `xml_path` in `go1.yaml` to select `flat.xml`, `stairs.xml`, `boxes.xml`,
or `stairs_and_slope.xml`.
## Actuator Assumption
The Go1 asset publishes a `33.5 Nm` effort limit but does not include measured
torque-speed knee points. The training actuator therefore uses the known effort
limit with delayed PD control instead of reusing the Go2-HV torque-speed curve.

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resources/go1/boxes.xml Normal file
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<mujoco model="boxes">
<include file="go1.xml" />
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<!-- Rough terrain: full coverage with dense bumps -->
<geom pos="0.5 -2.0 0.07" type="box" size="0.15 0.15 0.07" />
<geom pos="0.8 -2.0 0.03" type="box" size="0.15 0.15 0.03" />
<geom pos="1.1 -2.0 0.05" type="box" size="0.15 0.15 0.05" />
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<geom pos="1.7 -2.0 0.08" type="box" size="0.15 0.15 0.08" />
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</worldbody>
</mujoco>

22
resources/go1/flat.xml Normal file
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<mujoco model="flat">
<include file="go1.xml"/>
<statistic center="1.0 0.7 1.0" extent="0.8"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="-140" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>

198
resources/go1/go1.xml Normal file
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<mujoco model="go1">
<compiler angle="radian" meshdir="meshes" />
<size njmax="500" nconmax="100" />
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
<default>
<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
<light castshadow="false" diffuse="1 1 1"/>
<motor ctrlrange="-33.5 33.5" ctrllimited="true"/>
<camera fovy="60"/>
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
</default>
<asset>
<mesh name="trunk" file="trunk.stl" />
<mesh name="hip" file="hip.stl" />
<mesh name="thigh_mirror" file="thigh_mirror.stl" />
<mesh name="calf" file="calf.stl" />
<mesh name="thigh" file="thigh.stl" />
</asset>
<worldbody>
<body name="base_link" pos="0 0 0.35">
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<freejoint name="root" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
<geom size="0.13 0.04675 0.057" type="box" rgba="0.913725 0.913725 0.847059 1" />
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" rgba="0.8 0 0 0" />
<site name="imu" pos="0 0 0"/>
<body name="FR_hip" pos="0.1881 -0.04675 0">
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<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="FR_thigh" pos="0 -0.08 0">
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
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<body name="FR_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom name="FR" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="FR_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="FL_hip" pos="0.1881 0.04675 0">
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<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
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<body name="FL_thigh" pos="0 0.08 0">
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
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<body name="FL_calf" pos="0 0 -0.213">
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<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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<geom name="FL" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="FL_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="RR_hip" pos="-0.1881 -0.04675 0">
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<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
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<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="RR_thigh" pos="0 -0.08 0">
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
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<body name="RR_calf" pos="0 0 -0.213">
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<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
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<geom name="RR" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="RR_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="RL_hip" pos="-0.1881 0.04675 0">
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<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
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<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="RL_thigh" pos="0 0.08 0">
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="RL_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom name="RL" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="RL_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
</actuator>
<sensor>
<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
<jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" />
<jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" />
<jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" />
<jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" />
<jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" />
<jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" />
<jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" />
<jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" />
<jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" />
<jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" />
<jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" />
<jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" />
<accelerometer name="Body_Acc" site="imu"/>
<gyro name="Body_Gyro" site="imu"/>
<framepos name="Body_Pos" objtype="site" objname="imu"/>
<framelinvel name="Body_LinVel" objtype="site" objname="imu"/>
<framequat name="Body_Quat" objtype="site" objname="imu"/>
</sensor>
</mujoco>

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resources/go1/stairs_and_slope.xml Normal file
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<mujoco model="stairs_and_slope">
<include file="go1.xml"/>
<statistic center="0 0 0.1" extent="0.8"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="-130" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
<body name="stairs" pos="2 0 0">
<geom name="step_0" type="box" size="0.15 3.0 0.095" pos="0.15 0 0.095" rgba="1 1 1 1"/>
<geom name="step_1" type="box" size="0.15 3.0 0.095" pos="0.45 0 0.285" rgba="1 1 1 1"/>
<geom name="step_2" type="box" size="0.15 3.0 0.095" pos="0.75 0 0.475" rgba="1 1 1 1"/>
<geom name="step_3" type="box" size="0.15 3.0 0.095" pos="1.05 0 0.665" rgba="1 1 1 1"/>
<geom name="step_4" type="box" size="0.15 3.0 0.095" pos="1.35 0 0.855" rgba="1 1 1 1"/>
<geom name="step_5" type="box" size="0.15 3.0 0.095" pos="1.65 0 1.045" rgba="1 1 1 1"/>
<geom name="step_6" type="box" size="0.15 3.0 0.095" pos="1.95 0 1.235" rgba="1 1 1 1"/>
<geom name="step_7" type="box" size="0.15 3.0 0.095" pos="2.25 0 1.425" rgba="1 1 1 1"/>
<geom name="step_8" type="box" size="0.15 3.0 0.095" pos="2.55 0 1.615" rgba="1 1 1 1"/>
<geom name="step_9" type="box" size="0.15 3.0 0.095" pos="2.85 0 1.805" rgba="1 1 1 1"/>
</body>
<!-- 斜坡：从最后一阶末端（X=6）开始，向下倾斜0.4rad，水平长度约4.493m，白色 -->
<geom name="ramp" type="box" size="2.2465 3.0 0.1" pos="7.0465 0 0.95" rgba="1 1 1 1" euler="0 0.4 0"/>
</worldbody>
</mujoco>

581
resources/go1/urdf/go1.urdf Normal file
View File

@@ -0,0 +1,581 @@
<?xml version="1.0" ?>
<robot name="go1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.3762 0.0935 0.114"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.011611 0.004437 0.000108"/>
<mass value="4.8"/>
<inertia ixx="0.016130741919" ixy="0.000593180607" ixz="7.324662e-06" iyy="0.036507810812" iyz="2.0969537e-05" izz="0.044693872053"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision> -->
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1881 -0.04675 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.045 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00541 0.00074 6e-06"/>
<mass value="0.510299"/>
<inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_thigh_shoulder">
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision> -->
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
<mass value="0.898919"/>
<inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
<mass value="0.158015"/>
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1881 0.04675 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.045 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00541 -0.00074 6e-06"/>
<mass value="0.510299"/>
<inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.08 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_thigh_shoulder">
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision> -->
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.08 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
<mass value="0.898919"/>
<inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
<mass value="0.158015"/>
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.1881 -0.04675 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.045 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00541 0.00074 6e-06"/>
<mass value="0.510299"/>
<inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RR_thigh_shoulder">
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision> -->
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
<mass value="0.898919"/>
<inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
<mass value="0.158015"/>
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.1881 0.04675 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.045 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00541 -0.00074 6e-06"/>
<mass value="0.510299"/>
<inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.08 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RL_thigh_shoulder">
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision> -->
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.08 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
<mass value="0.898919"/>
<inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
<mass value="0.158015"/>
<inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
</robot>

39
source/robot_lab/robot_lab/assets/unitree.py
View File

@@ -12,7 +12,7 @@ from isaaclab.assets.articulation import ArticulationCfg
from isaaclab.utils import configclass
from robot_lab.assets import ISAACLAB_ASSETS_DATA_DIR
from robot_lab.assets.unitree_actuator import UnitreeActuatorCfg_Go2HV
from robot_lab.assets.unitree_actuator import UnitreeActuatorCfg_Go1, UnitreeActuatorCfg_Go2HV
##
# Configuration
@@ -158,3 +158,40 @@ GO2_CFG_UNITREE = UnitreeArticulationCfg(
],
# fmt: on
)
# Go1 uses the complete Unitree URDF and the joint order used by the Unitree SDK.
GO1_CFG_UNITREE = UnitreeArticulationCfg(
spawn=UnitreeUrdfFileCfg(
asset_path=f"{ISAACLAB_ASSETS_DATA_DIR}/go1/urdf/go1.urdf",
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.34),
joint_pos={
".*R_hip_joint": -0.1,
".*L_hip_joint": 0.1,
"F[L,R]_thigh_joint": 0.8,
"R[L,R]_thigh_joint": 1.0,
".*_calf_joint": -1.5,
},
joint_vel={".*": 0.0},
),
actuators={
"GO1": UnitreeActuatorCfg_Go1(
joint_names_expr=[".*"],
stiffness=28.0,
damping=0.7,
friction=0.01,
min_delay=0,
max_delay=4,
),
},
# fmt: off
joint_sdk_names=[
"FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
"FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
"RR_hip_joint", "RR_thigh_joint", "RR_calf_joint",
"RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
],
# fmt: on
)

14
source/robot_lab/robot_lab/assets/unitree_actuator.py
View File

@@ -128,3 +128,17 @@ class UnitreeActuatorCfg_Go2HV(UnitreeActuatorCfg):
Y1 = 20.2
Y2 = 23.4
@configclass
class UnitreeActuatorCfg_Go1(UnitreeActuatorCfg):
"""Go1 actuator using the URDF effort limit.
Public Go1 torque-speed knee measurements are not provided with the asset,
so this configuration intentionally applies a constant 33.5 Nm limit
instead of borrowing the materially different Go2-HV motor curve.
"""
X1 = 1.0e9
X2 = 1.0e9
Y1 = 33.5
Y2 = 33.5

22
source/robot_lab/robot_lab/tasks/go1/__init__.py Normal file
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@@ -0,0 +1,22 @@
# Copyright (c) 2024-2025 Ziqi Fan
# SPDX-License-Identifier: Apache-2.0
"""Go1 locomotion task registration."""
import gymnasium as gym
from isaaclab_tasks.utils import import_packages
gym.register(
id="RobotLab-Go1-v0",
entry_point="robot_lab.tasks.go1.env.go1_env:Go1Env",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.env_cfg:Go1EnvCfg",
"rsl_rl_cfg_entry_point": f"{__name__}.rsl_rl_cfg:MoECTSRunnerCfg",
},
)
_BLACKLIST_PKGS = ["utils"]
import_packages(__name__, _BLACKLIST_PKGS)

1
source/robot_lab/robot_lab/tasks/go1/env/__init__.py vendored Normal file
View File

@@ -0,0 +1 @@
"""Go1 environment implementation."""

14
source/robot_lab/robot_lab/tasks/go1/env/go1_env.py vendored Normal file
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@@ -0,0 +1,14 @@
from isaaclab.envs import ManagerBasedRLEnv, ManagerBasedRLEnvCfg
from robot_lab.tasks.go2.manager.action_manager import ActionManagerGo2
class Go1Env(ManagerBasedRLEnv):
"""Go1 environment using the shared ordered action manager."""
cfg: ManagerBasedRLEnvCfg
def load_managers(self):
super().load_managers()
self.action_manager = ActionManagerGo2(self.cfg.actions, self)
print("[Go1Env-INFO] Using ordered action manager:", self.action_manager)

509
source/robot_lab/robot_lab/tasks/go1/env_cfg.py Normal file
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@@ -0,0 +1,509 @@
import math
import isaaclab.sim as sim_utils
from isaaclab.assets import ArticulationCfg, AssetBaseCfg
from isaaclab.envs import ManagerBasedRLEnvCfg
from isaaclab.managers import CurriculumTermCfg as CurrTerm
from isaaclab.managers import EventTermCfg as EventTerm
from isaaclab.managers import ObservationGroupCfg as ObsGroup
from isaaclab.managers import ObservationTermCfg as ObsTerm
from isaaclab.managers import RewardTermCfg as RewTerm
from isaaclab.managers import SceneEntityCfg
from isaaclab.managers import TerminationTermCfg as DoneTerm
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.sensors import ContactSensorCfg, RayCasterCfg, patterns
from isaaclab.terrains import TerrainImporterCfg
from isaaclab.utils import configclass
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise
import robot_lab.tasks.go2.mdp as mdp
from robot_lab.assets.unitree import GO1_CFG_UNITREE
from robot_lab.tasks.go2.mdp.terrains import TERRAIN_CFG
JOINT_NAMES = [
"FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
"FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
"RR_hip_joint", "RR_thigh_joint", "RR_calf_joint",
"RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
]
BASE_LINK_NAME = "trunk"
FOOT_LINK_NAME = ".*_foot"
BASE_HEIGHT_TARGET = 0.30 # Go1 nominal trunk height used by the original Gym task.
##
# Scene definition
##
@configclass
class Go1SceneCfg(InteractiveSceneCfg):
"""Configuration for the terrain scene with the Go1 robot."""
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="generator",
terrain_generator=TERRAIN_CFG,
max_init_terrain_level=5,
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="average",
restitution_combine_mode="average",
static_friction=1.0,
dynamic_friction=1.0,
restitution=0.0,
),
visual_material=sim_utils.MdlFileCfg(
mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
project_uvw=True,
texture_scale=(0.25, 0.25),
),
debug_vis=False
)
robot: ArticulationCfg = GO1_CFG_UNITREE.replace(prim_path="{ENV_REGEX_NS}/Robot")
height_scanner = RayCasterCfg(
prim_path="{ENV_REGEX_NS}/Robot/trunk",
offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
ray_alignment="yaw",
pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
debug_vis=False,
mesh_prim_paths=["/World/ground"],
)
height_scanner_small = RayCasterCfg(
prim_path="{ENV_REGEX_NS}/Robot/trunk",
offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
ray_alignment="yaw",
pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[0.4, 0.3]),
debug_vis=False,
mesh_prim_paths=["/World/ground"],
)
contact_forces = ContactSensorCfg(
prim_path="{ENV_REGEX_NS}/Robot/.*",
history_length=3,
track_air_time=True,
)
# 灯光
sky_light = AssetBaseCfg(
prim_path="/World/skyLight",
spawn=sim_utils.DomeLightCfg(
intensity=750.0,
texture_file=f"{ISAAC_NUCLEUS_DIR}/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr",
),
)
##
# MDP settings
##
@configclass
class CommandsCfg:
"""Command specifications for the MDP."""
base_velocity = mdp.Go2RLGymCommandCfg()
@configclass
class ActionsCfg:
"""Action specifications for the MDP."""
# 腿部关节：位置控制
joint_pos = mdp.JointPositionActionCfg(
asset_name="robot",
joint_names=JOINT_NAMES,
scale={".*_hip_joint": 0.25, "^(?!.*_hip_joint).*": 0.25},
use_default_offset=True,
clip={".*": (-100.0, 100.0)},
preserve_order=True
)
@configclass
class ObservationsCfg:
@configclass
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
base_ang_vel = ObsTerm(
func=mdp.base_ang_vel,
noise=Unoise(n_min=-0.2, n_max=0.2),
clip=(-100.0, 100.0),
scale=0.25,
)
projected_gravity = ObsTerm(
func=mdp.projected_gravity,
noise=Unoise(n_min=-0.05, n_max=0.05),
clip=(-100.0, 100.0),
scale=1.0,
)
velocity_commands = ObsTerm(
func=mdp.generated_commands,
params={"command_name": "base_velocity"},
clip=(-100.0, 100.0),
scale=1.0,
)
joint_pos = ObsTerm(
func=mdp.joint_pos_rel,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES, preserve_order=True)},
noise=Unoise(n_min=-0.03, n_max=0.03),
clip=(-100.0, 100.0),
scale=1.0,
)
joint_vel = ObsTerm(
func=mdp.joint_vel_rel,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES, preserve_order=True)},
noise=Unoise(n_min=-2.0, n_max=2.0),
clip=(-100.0, 100.0),
scale=0.05,
)
actions = ObsTerm(
func=mdp.last_action,
clip=(-100.0, 100.0),
scale=1.0,
)
def __post_init__(self):
self.history_length = 10
self.enable_corruption = True
self.concatenate_terms = True
self.flatten_history_dim = True
@configclass
class CriticCfg(ObsGroup):
base_lin_vel = ObsTerm(
func=mdp.base_lin_vel,
clip=(-100.0, 100.0),
scale=2.0,
)
base_ang_vel = ObsTerm(
func=mdp.base_ang_vel,
clip=(-100.0, 100.0),
scale=0.25,
)
projected_gravity = ObsTerm(
func=mdp.projected_gravity,
clip=(-100.0, 100.0),
scale=1.0,
)
velocity_commands = ObsTerm(
func=mdp.generated_commands,
params={"command_name": "base_velocity"},
clip=(-100.0, 100.0),
scale=1.0,
)
joint_pos = ObsTerm(
func=mdp.joint_pos_rel,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES, preserve_order=True)},
clip=(-100.0, 100.0),
scale=1.0,
)
joint_vel = ObsTerm(
func=mdp.joint_vel_rel,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES, preserve_order=True)},
clip=(-100.0, 100.0),
scale=0.05,
)
actions = ObsTerm(
func=mdp.last_action,
clip=(-100.0, 100.0),
scale=1.0,
)
joint_acc = ObsTerm(
func=mdp.joint_acc,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES, preserve_order=True)},
clip=(-100.0, 100.0),
scale=1e-4,
)
joint_torque = ObsTerm(
func=mdp.joint_effort,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES, preserve_order=True)},
clip=(-100.0, 100.0),
scale=0.01,
)
contact_force = ObsTerm(
func=mdp.foot_contact_force_norm,
params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=FOOT_LINK_NAME)},
clip=(-100.0, 100.0),
scale=1e-3,
)
height_scan = ObsTerm(
func=mdp.height_scan,
params={"sensor_cfg": SceneEntityCfg("height_scanner")},
clip=(-1.0, 1.0),
scale=2.5,
)
def __post_init__(self):
self.enable_corruption = False
self.concatenate_terms = True
@configclass
class SingleObsCfg(PolicyCfg):
def __post_init__(self):
super().__post_init__()
self.history_length = 1
policy: PolicyCfg = PolicyCfg()
critic: CriticCfg = CriticCfg()
single_obs: SingleObsCfg = SingleObsCfg() # Used to obtain the current-timestep observation for the MoE CTS model
@configclass
class EventCfg:
"""Configuration for events."""
randomize_rigid_body_mass_base = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"mass_distribution_params": (-1.0, 1.0),
"operation": "add",
"recompute_inertia": True,
},
)
randomize_rigid_body_mass_others = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*trunk).*"),
"mass_distribution_params": (0.9, 1.1),
"operation": "scale",
"recompute_inertia": True,
},
)
randomize_com_positions = EventTerm(
func=mdp.randomize_rigid_body_com,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"com_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "z": (-0.03, 0.03)},
},
)
reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_scale,
mode="reset",
params={
"position_range": (0.5, 1.5),
"velocity_range": (0.0, 0.0),
},
)
randomize_actuator_gains = EventTerm(
func=mdp.randomize_actuator_gains,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
"stiffness_distribution_params": (0.9, 1.1),
"damping_distribution_params": (0.9, 1.1),
"operation": "scale",
"distribution": "uniform",
},
)
randomize_motor_zero_offset = EventTerm(
func=mdp.randomize_action_joint_pos_offset,
mode="reset",
params={
"action_term_name": "joint_pos",
"offset_range": (-0.035, 0.035),
},
)
randomize_push_robot = EventTerm(
func=mdp.push_by_setting_velocity,
mode="interval",
interval_range_s=(4.0, 4.0),
params={
"velocity_range": {
"x": (-0.4, 0.4),
"y": (-0.4, 0.4),
"roll": (-0.6, 0.6),
"pitch": (-0.6, 0.6),
"yaw": (-0.6, 0.6)
}
}
)
randomize_rigid_body_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.0, 2.0),
"dynamic_friction_range": (0.0, 2.0),
"restitution_range": (0.0, 0.5),
"num_buckets": 64,
"make_consistent": True
},
)
reset_base = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "z": (0.0, 0.2), "yaw": (-3.14, 3.14)},
"velocity_range": {
"x": (-0.5, 0.5),
"y": (-0.5, 0.5),
"z": (-0.5, 0.5),
"roll": (-0.5, 0.5),
"pitch": (-0.5, 0.5),
"yaw": (-0.5, 0.5),
},
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
track_lin_vel_xy_exp = RewTerm(
func=mdp.track_lin_vel_xy_exp,
weight=2.0,
params={"command_name": "base_velocity", "std": 0.5}
)
track_ang_vel_z_exp = RewTerm(
func=mdp.track_ang_vel_z_exp,
weight=1.0,
params={"command_name": "base_velocity", "std": 0.5}
)
lin_vel_z_l2 = RewTerm(func=mdp.lin_vel_z_l2, weight=-2.0)
ang_vel_xy_l2 = RewTerm(func=mdp.ang_vel_xy_l2, weight=-0.05)
# The joint_acc reward is not computed on the same scale in Gym and Lab.
# In Gym, it is computed at the policy-step level,
# while in Lab, it is computed at the physics-step level.
# In Lab, the reward calculation is more precise, and because the L2 term is more sensitive to outliers.
# Thus, the reward value is overall higher, so we need to decrease the weights to be suitable for Lab.
joint_acc_l2 = RewTerm(
func=mdp.joint_acc_l2,
weight=-1.0e-7,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES)}
)
joint_power = RewTerm(
func=mdp.joint_power,
weight=-2e-5,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES)}
)
joint_torques_l2 = RewTerm(
func=mdp.joint_torques_l2,
weight=-1e-4,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES)}
)
base_height_l2 = RewTerm(
func=mdp.base_height_l2,
weight=-1.0,
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"target_height": BASE_HEIGHT_TARGET,
"sensor_cfg": SceneEntityCfg("height_scanner_small"),
}
)
action_rate_l2 = RewTerm(func=mdp.action_rate_l2, weight=-0.01)
action_smoothness_l2 = RewTerm(func=mdp.action_smoothness_l2, weight=-0.01)
undesired_contacts = RewTerm(
func=mdp.undesired_contacts,
weight=-1.0,
params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_thigh|.*_calf"), "threshold": 5.0},
)
joint_pos_limits = RewTerm(
func=mdp.joint_pos_limits,
weight=-2.0,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES)},
)
feet_regulation = RewTerm(
func=mdp.feet_regulation,
weight=-0.05,
params={
"base_height_target": BASE_HEIGHT_TARGET,
"asset_cfg": SceneEntityCfg("robot", body_names=FOOT_LINK_NAME),
"sensor_cfg": SceneEntityCfg("height_scanner_small"),
},
)
hip_pos_penalty_l1 = RewTerm(
func=mdp.hip_pos_penalty_l1,
weight=-0.05,
params={
"command_name": "base_velocity",
"asset_cfg": SceneEntityCfg("robot", joint_names=".*_hip_joint"),
"stand_still_scale": 1.0,
"command_threshold": 0.1,
},
)
joint_pos_penalty_l1 = RewTerm(
func=mdp.joint_pos_penalty_l1,
weight=-0.01,
params={
"command_name": "base_velocity",
"asset_cfg": SceneEntityCfg("robot", joint_names=".*_(thigh|calf)_joint"),
"stand_still_scale": 1.0,
"velocity_threshold": 0.1,
"command_threshold": 0.1,
},
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
time_out = DoneTerm(func=mdp.time_out, time_out=True)
illegal_contact = DoneTerm(
func=mdp.illegal_contact,
params={
"sensor_cfg": SceneEntityCfg("contact_forces", body_names=BASE_LINK_NAME),
"threshold": 1.0
},
)
@configclass
class CurriculumCfg:
"""Curriculum terms for the MDP."""
terrain_levels = CurrTerm(func=mdp.terrain_levels_vel_gym)
base_linear_velocity = CurrTerm(mdp.gradual_reward_weight_modification, params={
"term_name": "lin_vel_z_l2", "initial_weight": -2.0, "final_weight": -0.0, "start_it": 0, "end_it": 1500
})
base_height_l2 = CurrTerm(mdp.gradual_reward_weight_modification, params={
"term_name": "base_height_l2", "initial_weight": -1.0, "final_weight": -10.0, "start_it": 0, "end_it": 5000
})
##
# Environment configuration
##
@configclass
class Go1EnvCfg(ManagerBasedRLEnvCfg):
"""Merged configuration for the Go1 robot on rough terrain."""
# Scene settings
scene: Go1SceneCfg = Go1SceneCfg(num_envs=16384, env_spacing=0.5)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
commands: CommandsCfg = CommandsCfg()
# MDP settings
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
events: EventCfg = EventCfg()
curriculum: CurriculumCfg = CurriculumCfg()
def __post_init__(self):
"""Post initialization."""
# General settings
self.decimation = 4
self.episode_length_s = 25.0
# Simulation settings
self.sim.dt = 0.005
self.sim.render_interval = self.decimation
# Physics material settings from subclass
self.sim.physics_material = self.scene.terrain.physics_material
self.sim.physx.gpu_max_rigid_patch_count = int(1 * 1024 * 1024) # 1 million
self.sim.physx.gpu_collision_stack_size = int(512 * 1024 * 1024) # 128 MB
self.sim.physx.enable_external_forces_every_iteration = True
# Update sensor periods
if self.scene.height_scanner is not None:
self.scene.height_scanner.update_period = self.decimation * self.sim.dt
if self.scene.height_scanner_small is not None:
self.scene.height_scanner_small.update_period = self.decimation * self.sim.dt
if self.scene.contact_forces is not None:
self.scene.contact_forces.update_period = self.sim.dt
# Handle curriculum for terrain generator
if getattr(self.curriculum, "terrain_levels", None) is not None:
if self.scene.terrain.terrain_generator is not None:
self.scene.terrain.terrain_generator.curriculum = True
else:
if self.scene.terrain.terrain_generator is not None:
self.scene.terrain.terrain_generator.curriculum = False

86
source/robot_lab/robot_lab/tasks/go1/rsl_rl_cfg.py Normal file
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@@ -0,0 +1,86 @@
from isaaclab.utils import configclass
from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
@configclass
class PPORunnerCfg(RslRlOnPolicyRunnerCfg):
num_steps_per_env = 24
max_iterations = 300000
save_interval = 500
experiment_name = "go1_rough"
policy = RslRlPpoActorCriticCfg(
init_noise_std=1.0,
actor_obs_normalization=False,
critic_obs_normalization=False,
actor_hidden_dims=[512, 256, 128],
critic_hidden_dims=[512, 256, 128],
activation="elu",
)
algorithm = RslRlPpoAlgorithmCfg(
value_loss_coef=1.0,
use_clipped_value_loss=True,
clip_param=0.2,
entropy_coef=0.01,
num_learning_epochs=5,
num_mini_batches=4,
learning_rate=1.0e-3,
schedule="adaptive",
gamma=0.99,
lam=0.95,
desired_kl=0.01,
max_grad_norm=1.0,
)
@configclass
class RslRlMoeCtsActorCriticCfg(RslRlPpoActorCriticCfg):
class_name = "ActorCriticMoECTS"
init_noise_std = 1.0
expert_num = 8 # number of experts in the student model
latent_dim = 32
norm_type = 'l2norm' # normalization type for encoders: l2norm, simnorm
teacher_encoder_hidden_dims = [512, 256]
student_encoder_hidden_dims = [512, 256, 256]
actor_hidden_dims=[512, 256, 128]
critic_hidden_dims=[512, 256, 128]
activation="elu"
actor_obs_normalization = False
critic_obs_normalization = False
@configclass
class RslRlMoeCtsAlgorithmCfg(RslRlPpoAlgorithmCfg):
class_name = "MoECTS"
value_loss_coef = 1.0
load_balance_coef = 0.01 # coefficient for load balance loss
use_clipped_value_loss = True
clip_param = 0.2
entropy_coef = 0.01
num_learning_epochs = 5
num_mini_batches = 4
learning_rate = 1e-3
student_encoder_learning_rate = 1e-3
schedule = "adaptive"
gamma = 0.99
lam = 0.95
betas = (0.9, 0.999)
weight_decay = 0.0
desired_kl = 0.01
max_grad_norm = 1.0
teacher_env_ratio = 0.75 # percentage of envs assigned to teacher
@configclass
class MoECTSRunnerCfg(RslRlOnPolicyRunnerCfg):
experiment_name = "go1_moe_cts"
class_name = "OnPolicyRunnerCTS"
num_steps_per_env = 24
max_iterations = 300000
save_interval = 500
policy = RslRlMoeCtsActorCriticCfg()
algorithm = RslRlMoeCtsAlgorithmCfg()
# concat elu inspired by concat relu from https://arxiv.org/pdf/2303.07507
@configclass
class MoECTSCatELURunnerCfg(MoECTSRunnerCfg):
def __post_init__(self):
super().__post_init__()
self.policy.activation = 'cat_elu'