Walker

system install

pip install rsl-rl-lib==2.2.4

free style locomotion

Stage 1

Training

python scripts/rsl_rl/train_gait.py --task=Quadruped-Go2StyleLatent-v0 --headless

Playing

python scripts/rsl_rl/play_gait.py --task=Quadruped-Go2StyleLatent-Play-v0

Simple video （Free switching between different gaits and speeds, capable of high-speed operation; There is still room for improvement）

Training

python scripts/rsl_rl/train_gait.py --task=H1StyleLatent-v0 --headless

Playing

python scripts/rsl_rl/play_gait.py --task=H1StyleLatent-Play-v0

At present, we only focus on the performance of bipedal operation, and there will be optimization in the future (1) Better control of the relationship between speed and stride frequency. (2) Course learning still needs to be implemented more reasonably. (3) Can add the rewards of dual arm symmetry operation and constraint control.

Stage 2

TODO