42 lines
1.0 KiB
Markdown
42 lines
1.0 KiB
Markdown
# go2_rl_robotlab
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## Overview
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Train Unitree Go2 with MoE-CTS.
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This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on robotlab/isaaclab.
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## Installation Guide
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### 1. Base Installation
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Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
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Notice that we use certain version of IsaacLab packages, make sure:
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```
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isaacsim <= 5.1.0.0 # tested on 5.1.0.0
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isaaclab <= 0.53.1 # tested on 0.53.1
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isaaclab-rl <= 0.4.7 # tested on 0.4.7
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```
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### 2. Modified Library Setup
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This branch uses a customized version of `rsl_rl` and `robot_lab`. To install it, run the following commands in your terminal:
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```bash
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python -m pip install -e source/robot_lab
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python -m pip install -e source/rsl_rl
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```
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## Try examples
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You can use the following commands to run all environments:
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RSL-RL:
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```bash
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# Train
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python scripts/reinforcement_learning/rsl_rl/train.py --task=<ENV_NAME> --headless
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# Play
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python scripts/reinforcement_learning/rsl_rl/play.py --task=<ENV_NAME>
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```
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