From b22071a1e4226ba9776390e288a2b448cd82311d Mon Sep 17 00:00:00 2001 From: craipy Date: Thu, 18 Jul 2024 14:42:14 +0800 Subject: [PATCH] update readme --- README.md | 65 ++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 64 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index c58594e..3e5a781 100644 --- a/README.md +++ b/README.md @@ -1 +1,64 @@ -详细使用说明，请参考 https://support.unitree.com/home/zh/developer/rl_example +# Unitree RL GYM + +TODO: 简介 + +### Installation + +1. Create a new python virtual env with python 3.6, 3.7 or 3.8 (3.8 recommended) +2. Install pytorch 1.10 with cuda-11.3: + + ``` + pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html + + ``` +3. Install Isaac Gym + + - Download and install Isaac Gym Preview 4 from [https://developer.nvidia.com/isaac-gym](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 rsl_rl (PPO implementation) + + - Clone [https://github.com/leggedrobotics/rsl_rl](https://github.com/leggedrobotics/rsl_rl) + - `cd rsl_rl && git checkout v1.0.2 && pip install -e .` + +### Usage + +1. Train: + `python legged_gym/scripts/train.py --task=go2` + + * To run on CPU add following arguments: `--sim_device=cpu`, `--rl_device=cpu` (sim on CPU and rl on GPU is possible). + * To run headless (no rendering) add `--headless`. + * **Important** : To improve performance, once the training starts press `v` to stop the rendering. You can then enable it later to check the progress. + * The trained policy is saved in `logs//_/model_.pt`. Where `` and `` are defined in the train config. + * The following command line arguments override the values set in the config files: + * --task TASK: Task name. + * --resume: Resume training from a checkpoint + * --experiment_name EXPERIMENT_NAME: Name of the experiment to run or load. + * --run_name RUN_NAME: Name of the run. + * --load_run LOAD_RUN: Name of the run to load when resume=True. If -1: will load the last run. + * --checkpoint CHECKPOINT: Saved model checkpoint number. If -1: will load the last checkpoint. + * --num_envs NUM_ENVS: Number of environments to create. + * --seed SEED: Random seed. + * --max_iterations MAX_ITERATIONS: Maximum number of training iterations. +2. Play:`python legged_gym/scripts/play.py --task=go2` + * By default, the loaded policy is the last model of the last run of the experiment folder. + + * Other runs/model iteration can be selected by setting `load_run` and `checkpoint` in the train config. + +### Robots Demo + +1. Go2 + + + +2. H1 + + + +3. H1-2 + +https://github.com/user-attachments/assets/a937e9c4-fe91-4240-88ea-d83b0160cad5 + +4. G1 +