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README.md
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## Overview
Train Unitree Go2 with MoE-CTS and deploy it on MuJoCo.
Train Unitree Go2 with MoE-CTS on IsaacLab and deploy it to MuJoCo.
This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on RobotLab/IsaacLab.
## Installation Guide
### 1. Install IsaacLab
Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
Install IsaacLab 2.3.0 release by following the [installation guide](https://isaac-sim.github.io/IsaacLab/release/2.3.0/source/setup/installation/pip_installation.html#).
Notice that we use certain version of IsaacLab packages, newer versions may cause compatibility issues with `rsl_rl` and `robot_lab`.
Please make sure to use the following versions or older ones:
After installation, your environment should satisfy the following requirements:
```
isaacsim <= 5.1.0.0 # tested on 5.1.0.0
isaaclab <= 0.53.1 # tested on 0.53.1
isaaclab-rl <= 0.4.7 # tested on 0.4.7
```
Higher version may cause conflicts with our customized `rsl_rl==3.3.0` and `robot_lab==2.3.0`.
### 2. Install customized RSL-RL and RobotLab
We uses a customized version of `rsl_rl` and `robot_lab`. To install it, run the following commands: