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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