How to contribute to this EESC FORK

1. Create a branch with this name pattern: <firstname>.<surname>/<creation date>/<feature name>
2. Do not change any file from the original code, because I constantly sync fork. . Your experiments can be included in a file source/experiments/ . Create a readme for your experiment so people know how to run the code
3. When making a Pull Request to main, add a changelog here explaining your feature

Experiments

source/experiments/go1_velocity_flat

I created this experiment with two purposes:

1. To make it clear what the configurations classes for the task actually are (because the original one has many inheritances)
2. To run the go1 environments using rl_games as well.

To run it: python source/experiments/go1_velocity_flat/rl_train.py --headless --num_envs 4096 python source/experiments/go1_velocity_flat/skrl_train.py --headless --num_envs 4096

Results: the skrl works faster

I also included the scripts source/experiments/go1_velocity_flat/skrl_export.py and source/experiments/go1_velocity_flat/skrl_test_export.py for exporting the policy and testing it.

Many changes were many for making deploying the policy easier.

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Isaac Lab

Isaac Lab is a unified and modular framework for robot learning that aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon NVIDIA Isaac Sim to leverage the latest simulation capabilities for photo-realistic scenes and fast and accurate simulation.

Please refer to our documentation page to learn more about the installation steps, features, tutorials, and how to set up your project with Isaac Lab.

Contributing to Isaac Lab

We wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone. These may happen as bug reports, feature requests, or code contributions. For details, please check our contribution guidelines.

Troubleshooting

Please see the troubleshooting section for common fixes or submit an issue.

For issues related to Isaac Sim, we recommend checking its documentation or opening a question on its forums.

Support

• Please use GitHub Discussions for discussing ideas, asking questions, and requests for new features.
• Github Issues should only be used to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features, or general updates.

License

The Isaac Lab framework is released under BSD-3 License. The license files of its dependencies and assets are present in the docs/licenses directory.

Acknowledgement

Isaac Lab development initiated from the Orbit framework. We would appreciate if you would cite it in academic publications as well:

@article{mittal2023orbit,
   author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
   journal={IEEE Robotics and Automation Letters},
   title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
   year={2023},
   volume={8},
   number={6},
   pages={3740-3747},
   doi={10.1109/LRA.2023.3270034}
}