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README

DreamWaQ

Description

This repo contains implementation of the paper Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning

Table of Contents

Installation

This repo requires the following packages: - Isaac Gym - Legged Gym - RSL-RL

To install Isaac Gym, go to the link and follow the instructions on the page.

  1. clone this repo

  cd rsl_rl-1.0.2
  pip install -e .
  cd ..

  cd legged_gym
  pip install -e .
  cd ..

Usage

To train your robot run

    python3 legged_gym/scripts/train.py --task=[robot name]

To evaluate the trained policy run

    python3 legged_gym/scripts/play.py --task=[robot name]

Go1:

Go1

Configuration

Requires python 3.8 and numpy version<=1.24.

Core symbols most depended-on inside this repo

save
called by 14
legged_gym/go1_gym_deploy/utils/logger.py
reset
called by 8
legged_gym/go1_gym_deploy/utils/logger.py
load
called by 8
rsl_rl-1.0.2/rsl_rl/runners/on_policy_runner.py
class_to_dict
called by 7
legged_gym/legged_gym/utils/helpers.py
get_buttons
called by 7
legged_gym/go1_gym_deploy/utils/command_profile.py
decode
called by 7
legged_gym/go1_gym_deploy/lcm_types/rc_command_lcmt.py
get_args
called by 6
legged_gym/legged_gym/utils/helpers.py
register
called by 6
legged_gym/legged_gym/utils/task_registry.py

Shape

Method 300
Class 121
Function 36

Languages

Python98%
C++2%

Modules by API surface

legged_gym/legged_gym/envs/base/legged_robot.py54 symbols
legged_gym/go1_gym_deploy/utils/cheetah_state_estimator.py31 symbols
legged_gym/go1_gym_deploy/utils/command_profile.py26 symbols
legged_gym/legged_gym/envs/base/legged_robot_config.py22 symbols
rsl_rl-1.0.2/rsl_rl/modules/actor_critic_DWAQ.py16 symbols
legged_gym/legged_gym/utils/helpers.py15 symbols
rsl_rl-1.0.2/rsl_rl/modules/actor_critic.py14 symbols
legged_gym/legged_gym/envs/anymal_c/flat/anymal_c_flat_config.py13 symbols
rsl_rl-1.0.2/rsl_rl/storage/rollout_storage.py12 symbols
legged_gym/go1_gym_deploy/utils/logger.py12 symbols
rsl_rl-1.0.2/rsl_rl/modules/actor_critic_recurrent.py11 symbols
legged_gym/legged_gym/envs/cassie/cassie_config.py11 symbols

For agents

$ claude mcp add DreamWaQ \
  -- python -m otcore.mcp_server <graph>

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