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wheel_legged_genesis

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Reinforcement learning of wheel-legged robots based on Genesis

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# wheel_legged_genesis
Reinforcement learning of wheel-legged robots based on Genesis 
![combined_image](https://raw.githubusercontent.com/Albusgive/wheel_legged_genesis/main/picture/combined_image.jpg)   
sim2sim in mujoco  
![combined_image2](https://raw.githubusercontent.com/Albusgive/wheel_legged_genesis/main/picture/combined_image2.jpg)  
## 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）](https://www.bilibili.com/video/BV14eKKeiEJB/?share_source=copy_web)   
[【开源】genesis轮足框架更新，增强地形适应能力](https://www.bilibili.com/video/BV16MAHeZEDK/?share_source=copy_web)   
[【开源】genesis强化学习仿真迁移测试](https://www.bilibili.com/video/BV1LUPgeREcb/?share_source=copy_web)  
[【开源】强化学习双轮足完美战胜mujoco](https://www.bilibili.com/video/BV1m79hYgEbA/?share_source=copy_web)    
## 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: 
- [x] Rough roads:uphill and downhill slopes  
- [x] Curriculum  
- [x] Custom terrain  
- [ ] Interference from external forces  
- [x] Sim2Sim：mujoco  
- [x] left_hip and right_hip  
- [x] swing legs & tie shan kao
- [ ] high speed control
## 技术交流：  
微信超200人了,加QQ群吧
![mujoco](https://raw.githubusercontent.com/Albusgive/wheel_legged_genesis/main/picture/mujoco.jpg)

wheel_legged_genesis

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