ARC Go2 Robot Training for Genesis

Overview

Note

This repository is for training Go2 using RL in Genesis.
All the code is sourced from Genesis.
Editor: Sol Choi

This repository serves as a template for building projects or extensions based on Genesis. It allows you to develop in an isolated environment, outside of the core Genesis repository. This template was inspired by the IsaacLab extension template structure.

Keywords: extension, template, genesis

Installation

• Install Genesis, see the installation guide.

  • Alternatively, follow the steps below for a simpler installation.

    conda env create -f environment.yaml
    conda activate genesis
    pip install genesis-world
    

• Install rsl_rl to use the PPO reinforcement learning algorithm.

  git submodule init
  git submodule update
  cd rsl_rl && pip install -e .
  

• Using a python interpreter that has Genesis installed, install the library.

  cd exts
  python -m pip install -e .
  

Genesis

• Project page 🔗 (https://genesis-embodied-ai.github.io/)
• Github code 🔗 (https://github.com/Genesis-Embodied-AI/Genesis.git)
• Documentation 🔗 (https://genesis-world.readthedocs.io/en/latest/index.html)