Agile Bipedal Motions on a Quadruped Robot

Project website

The code is modified from Isaac Gym Environments for Legged Robots.

Installation

1. Create a new python virtual env with python 3.6, 3.7 or 3.8 (3.8 recommended)
2. Install pytorch 1.10 with cuda-11.3:
   • pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html
3. Install Isaac Gym
   • Download and install Isaac Gym Preview 3 (does not directly work on Preview 4)
   • cd isaacgym/python && pip install -e .
   • Try running an example cd examples && python 1080_balls_of_solitude.py
   • For troubleshooting check docs isaacgym/docs/index.html
4. Install modified rsl_rl (PPO implementation) and legged_gym
   • Clone and cd to this repository
   • cd rsl_rl && pip install -e .
   • cd legged_gym_dance && pip install -e .
5. Install other dependencies
   • pip install tensorboard wandb

Usage

0. cd legged_gym_dance
1. Train:
   python legged_gym/scripts/train.py --task=cyber2_stand_dance --headless
   • The trained policy is saved in legged_gym/logs/<experiment_name>/<date_time>_<run_name>/model_<iteration>.pt. Where <experiment_name> and <run_name> are defined in the train config.
   • The following command line arguments override the values set in the config files:
   • --task TASK: Task name.
   • --resume: Resume training from a checkpoint
   • --experiment_name EXPERIMENT_NAME: Name of the experiment to run or load.
   • --run_name RUN_NAME: Name of the run.
   • --load_run LOAD_RUN: Name of the run to load when resume=True. If -1: will load the last run.
   • --checkpoint CHECKPOINT: Saved model checkpoint number. If -1: will load the last checkpoint.
   • --num_envs NUM_ENVS: Number of environments to create.
   • --seed SEED: Random seed.
   • --max_iterations MAX_ITERATIONS: Maximum number of training iterations.
2. Play a trained policy:
   python legged_gym/scripts/play.py --task=cyber2_stand_dance --load_run 2023-09-01-12-57-42_initsit_sliph0.03-0.4_qdiff-1_shift-50_vec0.2_resetpos5deg_initcontact30_com0.01_wvel --checkpoint 18000 --headless