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align with go2_rl_gym.

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This commit is contained in:
wertyuilife
2026-03-23 23:29:19 +08:00
parent b2668a9886
commit a1523d6949
5 changed files with 59 additions and 105 deletions
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26
README.md
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@@ -32,10 +32,10 @@ Use the following commands to train and play:
```bash
# Train
python scripts/reinforcement_learning/rsl_rl/train.py --task=Robotlab-Go2-v0 --headless --num_envs=4096
python scripts/reinforcement_learning/rsl_rl/train.py --task=RobotLab-Go2-v0 --headless
# Play
python scripts/reinforcement_learning/rsl_rl/play.py --task=Robotlab-Go2-v0 --num_envs=1024
python scripts/reinforcement_learning/rsl_rl/play.py --task=RobotLab-Go2-v0
```
## Configuration
@@ -46,6 +46,28 @@ python scripts/reinforcement_learning/rsl_rl/play.py --task=Robotlab-Go2-v0 --nu
3. Modify `source/robot_lab/robot_lab/tasks/go2/__init__.py` to add your own task with new config.
4. Add args in commands to override above configs, for example:
```
--experiment_name=moe_cts
--run_name=v1
--num_envs=16384
--resume
--checkpoint=path/to/your/checkpoint
```
for more usage, see [robot_lab](https://github.com/fan-ziqi/robot_lab.git).
## Differences with `go2_rl_gym`
- Terrain's composition are different(see code).
- Rewards
- feet_regulation are lacked.
- dof_pos_limits are lacked.
- tracking reward are different (fixed sigma vs. dynamic sigma).
- Terminations:
- contact termination are lacked.
## Acknowledgements
This repository would not exist without the following open-source projects:

7
cmd.md
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@@ -1,7 +0,0 @@
## train
python scripts/reinforcement_learning/rsl_rl/train.py \
--task=Robotlab-Go2-v0 --headless --num_envs=1024
## eval
python scripts/reinforcement_learning/rsl_rl/play.py \
--task=Robotlab-Go2-v0 --num_envs=64

10
source/robot_lab/robot_lab/assets/unitree.py
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@@ -43,12 +43,12 @@ UNITREE_GO2_CFG = ArticulationCfg(
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.38),
pos=(0.0, 0.0, 0.42),
joint_pos={
".*L_hip_joint": 0.0,
".*R_hip_joint": -0.0,
".*L_hip_joint": 0.1,
".*R_hip_joint": -0.1,
"F.*_thigh_joint": 0.8,
"R.*_thigh_joint": 0.8,
"R.*_thigh_joint": 1.0,
".*_calf_joint": -1.5,
},
joint_vel={".*": 0.0},
@@ -60,7 +60,7 @@ UNITREE_GO2_CFG = ArticulationCfg(
effort_limit=23.5,
saturation_effort=23.5,
velocity_limit=30.0,
stiffness=25.0,
stiffness=20.0,
damping=0.5,
friction=0.0,
),

2
source/robot_lab/robot_lab/tasks/go2/__init__.py
View File

@@ -18,7 +18,7 @@ from isaaclab_tasks.utils import import_packages
# Register Gym environments.
##
gym.register(
id="Robotlab-Go2-v0",
id="RobotLab-Go2-v0",
entry_point="robot_lab.tasks.go2.env.go2_env:ActionDelayGo2Env",
disable_env_checker=True,
kwargs={

119
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
View File

@@ -37,7 +37,7 @@ FOOT_LINK_NAME = ".*_foot"
TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
size=(8.0, 8.0),
border_width=20.0,
border_width=25.0,
num_rows=10,
num_cols=20,
horizontal_scale=0.1,
@@ -47,7 +47,7 @@ TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
sub_terrains={
"pyramid_stairs": terrain_gen.MeshPyramidStairsTerrainCfg(
proportion=0.15,
step_height_range=(0.05, 0.23),
step_height_range=(0.05, 0.25),
step_width=0.3,
platform_width=3.0,
border_width=1.0,
@@ -55,24 +55,24 @@ TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
),
"pyramid_stairs_inv": terrain_gen.MeshInvertedPyramidStairsTerrainCfg(
proportion=0.20,
step_height_range=(0.05, 0.23),
step_height_range=(0.05, 0.25),
step_width=0.3,
platform_width=3.0,
border_width=1.0,
holes=False,
),
"boxes": terrain_gen.MeshRandomGridTerrainCfg(
proportion=0.15, grid_width=0.45, grid_height_range=(0.05, 0.2), platform_width=2.0
proportion=0.15, grid_width=0.45, grid_height_range=(0.01, 0.15), platform_width=2.0
),
"random_rough": terrain_gen.HfRandomUniformTerrainCfg(
proportion=0.1, noise_range=(0.02, 0.10), noise_step=0.02, border_width=0.25
proportion=0.15, noise_range=(0.01, 0.1), noise_step=0.01, border_width=0.25
),
"flat": terrain_gen.MeshPlaneTerrainCfg(proportion=0.2),
"flat": terrain_gen.MeshPlaneTerrainCfg(proportion=0.15),
"hf_pyramid_slope": terrain_gen.HfPyramidSlopedTerrainCfg(
proportion=0.1, slope_range=(0.0, 0.4), platform_width=2.0, border_width=0.25
proportion=0.1, slope_range=(0.0, 0.5), platform_width=2.0, border_width=0.25
),
"hf_pyramid_slope_inv": terrain_gen.HfInvertedPyramidSlopedTerrainCfg(
proportion=0.1, slope_range=(0.0, 0.4), platform_width=2.0, border_width=0.25
proportion=0.1, slope_range=(0.0, 0.5), platform_width=2.0, border_width=0.25
),
},
)
@@ -116,15 +116,6 @@ class Go2SceneCfg(InteractiveSceneCfg):
mesh_prim_paths=["/World/ground"],
)
height_scanner_base = RayCasterCfg(
prim_path="{ENV_REGEX_NS}/Robot/base",
offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
ray_alignment="yaw",
pattern_cfg=patterns.GridPatternCfg(resolution=0.05, size=(0.1, 0.1)),
debug_vis=False,
mesh_prim_paths=["/World/ground"],
)
contact_forces = ContactSensorCfg(
prim_path="{ENV_REGEX_NS}/Robot/.*",
history_length=3,
@@ -199,7 +190,7 @@ class ActionsCfg:
joint_names=JOINT_NAMES,
scale={".*_hip_joint": 0.25, "^(?!.*_hip_joint).*": 0.25},
use_default_offset=True,
clip=None,
clip={".*": (-100.0, 100.0)},
preserve_order=True
)
@@ -337,42 +328,38 @@ class EventCfg:
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME), # Override
"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="^(?!.*base).*"), # Override
"mass_distribution_params": (0.8, 1.2),
"asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*base).*"),
"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), # Override
"com_range": {"x": (-0.05, 0.05), "y": (-0.05, 0.05), "z": (-0.05, 0.05)},
"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)},
},
)
randomize_com_positions_other = EventTerm(
func=mdp.randomize_rigid_body_com,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*base).*"), # Override
"com_range": {"x": (-0.05, 0.05), "y": (-0.05, 0.05), "z": (-0.05, 0.05)},
"asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*base).*"),
"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",
@@ -381,8 +368,6 @@ class EventCfg:
"velocity_range": (0.0, 0.0),
},
)
# when use DelayedPDActuator, the range should be narrowed, range that is too wide like (0.5, 2.0) will cause training to fail.
randomize_actuator_gains = EventTerm(
func=mdp.randomize_actuator_gains,
mode="reset",
@@ -400,24 +385,14 @@ class EventCfg:
interval_range_s=(4.0, 4.0),
params={
"velocity_range": {
"x": (-0.5, 0.5),
"y": (-0.5, 0.5),
"roll": (-0.7, 0.7),
"pitch": (-0.7, 0.7),
"yaw": (-0.7, 0.7)
"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_mass_base = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"mass_distribution_params": (-5.0, 10.0),
"operation": "add",
"recompute_inertia": True,
},
)
randomize_rigid_body_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
@@ -426,34 +401,10 @@ class EventCfg:
"static_friction_range": (0.5, 1.5),
"dynamic_friction_range": (0.5, 1.5),
"restitution_range": (0.0, 0.5),
"num_buckets": 512,
"num_buckets": 64,
"make_consistent": True
},
)
randomize_apply_external_force_torque = EventTerm(
func=mdp.apply_external_force_torque,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"force_range": (-10.0, 10.0),
"torque_range": (-10.0, 10.0),
},
)
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
@@ -483,7 +434,7 @@ class RewardsCfg:
base_height_l2 = RewTerm(
func=mdp.base_height_l2,
weight=-50.0,
weight=-1.0,
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"target_height": 0.38
@@ -508,7 +459,7 @@ class RewardsCfg:
hip_pos_penalty = RewTerm(
func=mdp.hip_pos_penalty,
weight=-0.85,
weight=-0.05,
params={
"command_name": "base_velocity",
"asset_cfg": SceneEntityCfg("robot", joint_names=".*_hip_joint"),
@@ -533,20 +484,16 @@ class RewardsCfg:
class TerminationsCfg:
"""Termination terms for the MDP."""
time_out = DoneTerm(func=mdp.time_out, time_out=True)
bad_orientation = DoneTerm(
func=mdp.bad_orientation,
params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"limit_angle": 2 * math.pi / 3
},
)
@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": 2000
"term_name": "lin_vel_z_l2", "initial_weight": -2.0, "final_weight": -0.0, "start_it": 0, "end_it": 1500
})
base_linear_velocity = 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
})
ref_stand_envs = CurrTerm(mdp.gradual_ref_stand_modification, params={
"term_name": "base_velocity", "initial": 0.0, "final": 0.1, "start_it": 0, "end_it": 1500
@@ -565,7 +512,7 @@ class Go2EnvCfg(ManagerBasedRLEnvCfg):
"""Merged configuration for the Go2 robot on rough terrain."""
# Scene settings
scene: Go2SceneCfg = Go2SceneCfg(num_envs=8192, env_spacing=2.5)
scene: Go2SceneCfg = Go2SceneCfg(num_envs=8192, env_spacing=0.5)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
@@ -597,14 +544,6 @@ class Go2EnvCfg(ManagerBasedRLEnvCfg):
if self.scene.contact_forces is not None:
self.scene.contact_forces.update_period = self.sim.dt
# Scale down terrain grid for small robot
if self.scene.terrain.terrain_generator is not None:
if "boxes" in self.scene.terrain.terrain_generator.sub_terrains:
self.scene.terrain.terrain_generator.sub_terrains["boxes"].grid_height_range = (0.025, 0.1)
if "random_rough" in self.scene.terrain.terrain_generator.sub_terrains:
self.scene.terrain.terrain_generator.sub_terrains["random_rough"].noise_range = (0.01, 0.06)
self.scene.terrain.terrain_generator.sub_terrains["random_rough"].noise_step = 0.01
# Handle curriculum for terrain generator
if getattr(self.curriculum, "terrain_levels", None) is not None:
if self.scene.terrain.terrain_generator is not None: