🦿 Legged Robotics in Genesis

A legged_gym based framework for training legged robots in genesis

🛠 Installation

1. Create a new python virtual env with python==3.10
2. Install pytorch for rocm

   pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/rocm6.2.4

3. Must use pip install; use newest Genesis will cause some error

   pip install genesis-world==0.2.1

4. Install rsl_rl and tensorboard

   # Install rsl_rl.
   git clone https://github.com/leggedrobotics/rsl_rl
   cd rsl_rl && git checkout v1.0.2 && pip install -e . --use-pep517

5. Install dependency

   git clone https://github.com/JingXunLin/Genesis_Go2.git
   cd Genesis_Go2
   pip install -e .
   
   pip install open3d tensorboard pygame trimesh
   pip install libigl==2.5.1

6. Fix OpenGL error

   conda install -c conda-forge libstdcxx-ng
   
   Modify  ~/miniconda3/envs/{你的環境名字}/lib/python3.10/site-packages/genesis/ext/pyrender/constants.py
   TARGET_OPEN_GL_MAJOR = 3  # Target OpenGL Major Version
   TARGET_OPEN_GL_MINOR = 3  # Target OpenGL Minor Version

👋 Usage

🚀 Quick Start

By default, the task is set to go2(in utils/helper.py), we can run a training session with the following command:

cd legged_gym/scripts
python train.py --headless --max_iterations=1000 # run training without rendering

After the training is done, paste the run_name under logs/go2 to load_run in go2_config.py:

Then, run play.py to visualize the trained model.

vglrun python play.py --task=go2_rough
vglrun python play.py --task=go2   #瞎子版本 只走平地

operation : W前進，S後退，Q左轉，E右轉，空白隨機踢飛(一定要在pygame視窗裡操作)

📖 Instructions

For more detailed instructions, please refer to the wiki page

DEMO

• result

🙏 Acknowledgements

• Genesis
• Genesis-backflip
• legged_gym
• rsl_rl
• unitree_rl_gym
• genesis_lr