go2_rl_robotlab

Overview

Train Unitree Go2 with MoE-CTS.

This is a reproduction version of go2_rl_gym on robotlab/isaaclab.

Installation Guide

1. Base Installation

Install Isaac Lab by following the installation guide.

Notice that we use certain version of IsaacLab packages, make sure:

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

2. Modified Library Setup

This branch uses a customized version of rsl_rl and robot_lab. To install it, run the following commands in your terminal:

python -m pip install -e source/robot_lab
python -m pip install -e source/rsl_rl

Try examples

You can use the following commands to run all environments:

RSL-RL:

# Train
python scripts/reinforcement_learning/rsl_rl/train.py --task=<ENV_NAME> --headless

# Play
python scripts/reinforcement_learning/rsl_rl/play.py --task=<ENV_NAME>