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legged-robots-manipulation

Introduction

legged-robots-manipulation is a loco-manipulation repository for (wheel-)legged robots. The code is built on legged_gym.

Installation

install isaac_gym,rsl_rl,legged_gym

  1. You are supposed to install the isaac_gym,rsl_rl and legged_gym.Please install the above dependencies (Isaac Gym Preview 4, rsl_rl, legged_gym) as described in legged_gym.

Copy required files to legged_gym.

  1. Copy the contents of ~/legged-robots-manipulation/legged_gym/legged_gym/envs/init.py into legged_gym.
   # Add those contents
from legged_gym.envs.airbot.airbot_config import AirbotRoughCfg, AirbotRoughCfgPPO

from legged_gym.envs.b2w.b2w_config import B2wRoughCfg, B2wRoughCfgPPO


from .airbot.airbot_robot import Airbot
from .b2w.b2w_robot import B2w

from .airbot.airbot_config import AirbotRoughCfg, AirbotRoughCfgPPO
from .b2w.b2w_config import B2wRoughCfg, B2wRoughCfgPPO


task_registry.register( "airbot", Airbot, AirbotRoughCfg(), AirbotRoughCfgPPO() )
task_registry.register( "b2w", B2w, B2wRoughCfg(), B2wRoughCfgPPO() )
  1. Copy envs files into legged_gym/envs corresponding.
   # Add those contents
cp path/to/legged-robots-manipulation/legged_gym/legged_gym/envs path/to/legged_gym/legged_gym/envs

Train

python tran.py --task=b2w 

# or

python train.py --task=airbot