robot_lab

robot_lab is an extension project based on the IsaacLab framework. It has a clear code framework and you can quickly migrate to your own robot.

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Get Ready

You need to install Isaac Lab.

Installation

Using a python interpreter that has Isaac Lab installed, install the library

python -m pip install -e ./exts/robot_lab

Try examples

FFTAI GR1T1

# To train
python scripts/rsl_rl/train.py --task RobotLab-Isaac-Velocity-Flat-FFTAI-GR1T1-v0 --headless
# To play
python scripts/rsl_rl/play.py --task RobotLab-Isaac-Velocity-Flat-FFTAI-GR1T1-v0

Anymal D

# To train
python scripts/rsl_rl/train.py --task RobotLab-Isaac-Velocity-Flat-Anymal-D-v0 --headless
# To play
python scripts/rsl_rl/play.py --task RobotLab-Isaac-Velocity-Flat-Anymal-D-v0

Unitree A1

# To train
python scripts/rsl_rl/train.py --task RobotLab-Isaac-Velocity-Flat-Unitree-A1-v0 --headless
# To play
python scripts/rsl_rl/play.py --task RobotLab-Isaac-Velocity-Flat-Unitree-A1-v0

Unitree H1

# To train
python scripts/rsl_rl/train.py --task RobotLab-Isaac-Velocity-Flat-Unitree-H1-v0 --headless
# To play
python scripts/rsl_rl/play.py --task RobotLab-Isaac-Velocity-Flat-Unitree-H1-v0

The above configs are flat, you can change Flat to Rough

AMP training

Unitree A1

# To train
python scripts/rsl_rl/train_amp.py --task RobotLab-Isaac-Velocity-Flat-Amp-Unitree-A1-v0 --headless
# To play
python scripts/rsl_rl/play_amp.py --task RobotLab-Isaac-Velocity-Flat-Amp-Unitree-A1-v0

Add your own robot

To convert urdf, you need to run convert_urdf.py of dir IsaacLab

For example, to generate A1 usd file:

./isaaclab.sh -p source/standalone/tools/convert_urdf.py <YOUR_ROBOT>.urdf source/extensions/omni.isaac.lab_assets/data/Robots/<YOUR_ROBOT>/<YOUR_ROBOT>.usd --merge-join

Check import_new_asset for detail