cyy/go2_rl_robotlab
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update readme; rename config dir;

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wertyuilife
2026-03-25 20:01:34 +08:00
parent d6a9c5949a
commit b2e779111b
3 changed files with 6 additions and 8 deletions
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.gitignore vendored
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@@ -71,14 +71,12 @@ __pycache__/
.DS_Store .DS_Store
# ML checkpoints / datasets # ML checkpoints / datasets
*.pt
*.pth *.pth
*.onnx *.onnx
*.npz *.npz
*.npy *.npy
# Large ML artifacts (do not commit) # Large ML artifacts (do not commit)
*.pt
*.pth *.pth
*.ckpt *.ckpt
*.onnx *.onnx

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README.md
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@@ -2,24 +2,24 @@
## Overview ## 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. This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on RobotLab/IsaacLab.
## Installation Guide ## Installation Guide
### 1. Install IsaacLab ### 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`. After installation, your environment should satisfy the following requirements:
Please make sure to use the following versions or older ones:
``` ```
isaacsim <= 5.1.0.0 # tested on 5.1.0.0 isaacsim <= 5.1.0.0 # tested on 5.1.0.0
isaaclab <= 0.53.1 # tested on 0.53.1 isaaclab <= 0.53.1 # tested on 0.53.1
isaaclab-rl <= 0.4.7 # tested on 0.4.7 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 ### 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: We uses a customized version of `rsl_rl` and `robot_lab`. To install it, run the following commands:

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deploy/deploy_mujoco/config/go2.yaml → deploy/deploy_mujoco/configs/go2.yaml
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@@ -1,4 +1,4 @@
policy_path: "{ROOT_DIR}/deploy/pretrain/go2/wyh/go2_moe_cts_1500.pt" policy_path: "{ROOT_DIR}/deploy/pretrain/go2/go2_moe_cts_1500.pt"
xml_path: "{ROOT_DIR}/resources/go2/stairs.xml" xml_path: "{ROOT_DIR}/resources/go2/stairs.xml"
# Total simulation time # Total simulation time