wheel_legged_genesis

Reinforcement learning of wheel-legged robots based on Genesis

System Requirements

Ubuntu 20.04/22.04/24.04
python >= 3.10

Hardware requirements

NVIDIA/AMD GPU or CPU

must（必须）

Use the main branch of Genesis to install it locally, and you cannot use Genesis 0.2.1 Release
不能使用pip安装genesis的0.2.1版本，使用main分支的本地安装，因为有API更新

Test & Development Platform

1. i5 12400f + Geforce RTX4070
2. i7 12700kf + Radeon Rx7900xt

Before running

1. Clone repo

run:

git clone https://github.com/Albusgive/wheel_legged_genesis.git
cd wheel_legged_genesis

2. install deps

use pdm install

Install pdm, https://pdm-project.org/en/latest/#installation, then run

pdm install

or manual install

Install Genesis:
https://github.com/Genesis-Embodied-AI/Genesis
install tensorboard:
pip install tensorboard
pip install pygame
pip install opencv-python

install rsl-rl:
cd rsl_rl && pip install -e .

Use

use pdm

test:
pdm run locomotion/wheel_legged_eval.py
train:
pdm run locomotion/wheel_legged_train.py

or manual

test:
python locomotion/wheel_legged_eval.py
train:
python locomotion/wheel_legged_train.py

gamepad & keyboard

gamepad

key	function
LY	lin_vel
RX	ang_vel
LT	height_up
RT	height_down
X	Reset

keyboard

key	function
W	前进 (Forward)
S	后退 (Backward)
A	左移 (Move Left)
D	右移 (Move Right)
Q	左转 (TURN Left)
E	右转 (TURN Right)
Space	站立 (up)
C/Left_Ctrl	下蹲 (down)
Shift	静步(Quiet Walking)
R	重置环境(Reset)

Terrain

You can use the terrain as agent_eval_gym/agent_train_gym/agent_eval_gym/circular

terrain	description
agent_train_gym	Rough roads and continuous slopes
agent_eval_gym	The agent_train_gym of the lite version
circular	Circular continuous slopes

About custom terrains Please refer to the code in assets/terrain

Suggestion

When using NVIDIA GPUs, it is recommended that the genesis backend choose gpu or cuda
When using AMD GPUs, it is recommended to select vulkan for the genesis backend

Demo of the effect

【开源】genesis双轮足机器人强化学习（基础版）
【开源】genesis轮足框架更新，增强地形适应能力
【开源】genesis强化学习仿真迁移测试

Changelog

version	description
v0.0.1	Basic functions and efficient training
v0.0.2	add domain rand and curriculum
v0.0.3	Faster and more stable training than v0.0.2
v0.0.5	Terrain training, custom terrain,add keyboard and better curriculum

TODO:

• Rough roads:uphill and downhill slopes
• Curriculum
• Custom terrain
• Interference from external forces
• Sim2Sim：mujoco
• left_hip and right_hip
  技术交流：