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https://github.com/billyliu312/titalocomanipulation

https://github.com/billyliu312/titalocomanipulation

Science Score: 49.0%

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Repository

Basic Info
  • Host: GitHub
  • Owner: BillyLiu312
  • Language: Python
  • Default Branch: main
  • Size: 126 MB
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Created about 1 year ago · Last pushed 10 months ago
Metadata Files
Readme

README.md

legged-robots-manipulation

Introduction

legged-robots-manipulation is a loco-manipulation repository for (wheel-)legged robots. The code is built on legged_gym.

Project Page:wheel-legged-loco-manipulation (IROS Oral 2024)

The current repository contains airbot ,go2arx,b2wz1,aliengo_z1 and b2w. The current repository is a partial implementation of the paper.The repository is still under construction for various reasons, and will be releasing issac lab versions and vision-based versions in the near future.

To do list

  • [x] legged-robots-manipulation for isaacgym
  • [ ] legged-robots-manipulation for isaaclab
  • [ ] end2end vision-based loco-manipulation method

airbot

loco-manipulation

go2_arx

loco-manipulation

aliengo_Z1

loco-manipulation

B2W_Z1

b2w

b2w is a locomotion demo for the Unitree b2w robot. locomotion

Installation

install isaacgym,rslrl,legged_gym

  1. You are supposed to install the isaacgym,rslrl and legged_gym.Please install the above dependencies (Isaac Gym Preview 4, rsl_rl, legged_gym) as described in legged_gym.

install legged-robots-manipulation

``` cd locomanipulationgym pip install -e .

```

Train

``` python tran.py --task=b2w --rl_device=cuda:0

or

python train.py --task=airbot --rl_device=cuda:0

```

Citing

If you use this work, please cite this paper:

```text @INPROCEEDINGS{10802062, author={Wang, Zifan and Jia, Yufei and Shi, Lu and Wang, Haoyu and Zhao, Haizhou and Li, Xueyang and Zhou, Jinni and Ma, Jun and Zhou, Guyue}, booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title={Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot}, year={2024}, volume={}, number={}, pages={10770-10776}, doi={10.1109/IROS58592.2024.10802062}}

```

IEEE concur reimbursement process reference:

IEEEconcurreimbursement_process.pdf

Acknowledgements

This code builds upon following open-source code-bases. Please visit the URLs to see the respective LICENSES:

  1. https://github.com/leggedrobotics/legged_gym/tree/master
  2. https://github.com/aCodeDog/awesome-loco-manipulation
  3. https://github.com/MarkFzp/Deep-Whole-Body-Control

Owner

  • Name: Mengfan Liu
  • Login: BillyLiu312
  • Kind: user

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