wheeled_bipedal_gym

Mainly based on https://github.com/clearlab-sustech/Wheel-Legged-Gym, some reward functions were modified and models were replaced, and the DirectDriveTech Diablo Robot model was used for training.

Installation

1. Create a new python virtual env with python 3.8
2. Install pytorch with cuda from https://pytorch.org/get-started/
3. Install Isaac Gym
   • Download and install Isaac Gym Preview 4 from https://developer.nvidia.com/isaac-gym
   • 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 wheel_legged_gym
   • Clone this repository
   • cd wheeled-bipedal-gym && pip install -e .

Usage

train

python wheeled_bipedal_gym/scripts/train.py --task=diablo

It takes about three thousand iterations to reach convergence.

play

python wheeled_bipedal_gym/scripts/play.py --task=diablo