wheelleggedgenesis

Reinforcement learning of wheel-legged robots based on Genesis
sim2sim in mujoco

System Requirements

Ubuntu 20.04/22.04/24.04
python >= 3.10

Hardware requirements

NVIDIA/AMD GPU or CPU

must（必须）

It is not possible to install the 0.2.1 version of genesis with pip, with the local installation of the main branch because there is an API update
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:
It is recommended to use the latest release version here, the main branch of clone is not necessarily stable
这里建议使用最新的release版，clone的main分支不一定稳定

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	leg_length_up
RT	leg_length_down
LB	left_leg_length_ctrl_flag
RB	right_leg_length_ctrl_flag
X	Reset
XX	太空步
YY	铁山靠
B	铁山靠回正

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)
1	left_leg_length_ctrl_flag(仅左腿)
2	right_leg_length_ctrl_flag(仅右腿)
Shift	静步(Quiet Walking)
R	重置环境(Reset)
UP&DOWN	太空步
LEFT&RIGHT	铁山靠
BACKSPACE	铁山靠回正

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
【开源】强化学习双轮足完美战胜mujoco

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
v0.0.7	sim2sim is a perfect victory over mujoco

TODO:

• Rough roads:uphill and downhill slopes
• Curriculum
• Custom terrain
• Interference from external forces
• Sim2Sim：mujoco
• left_hip and right_hip
• swing legs & tie shan kao
• high speed control

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