Isaaclab_Parkour

Isaaclab based Parkour locomotion

Base model: Extreme-Parkour

method.mp4

How to install

cd IsaacLab ## going to IsaacLab

https://github.com/CAI23sbP/Isaaclab_Parkour.git ## cloning this repo

cd Isaaclab_Parkour && pip3 install -e .

cd parkour_tasks && pip3 install -e .

How to train policies

1.1. Training Teacher Policy

python scripts/rsl_rl/train.py --task Isaac-Extreme-Parkour-Teacher-Unitree-Go2-v0 --seed 1 --headless

1.2. Training Student Policy

python scripts/rsl_rl/train.py --task Isaac-Extreme-Parkour-Student-Unitree-Go2-v0 --seed 1 --headless

How to play your policy

2.1. Pretrained Teacher Policy

Download Teacher Policy by this link

2.2. Playing Teacher Policy

python scripts/rsl_rl/play.py --task Isaac-Extreme-Parkour-Teacher-Unitree-Go2-Play-v0 --num_envs 16

Screencast.from.2025.08.16.12.43.38.webm

2.3. Evaluation Teacher Policy

python scripts/rsl_rl/evaluation.py --task Isaac-Extreme-Parkour-Teacher-Unitree-Go2-Eval-v0 

3.1 Pretrained Student Policy

Download Student Policy by this link

3.2. Playing Student Policy

python scripts/rsl_rl/play.py --task Isaac-Extreme-Parkour-Student-Unitree-Go2-Play-v0 --num_envs 16

Screencast.from.2025.08.20.15.15.31.online-video-cutter.com.mp4

3.3. Evaluation Student Policy

python scripts/rsl_rl/evaluation.py --task Isaac-Extreme-Parkour-Student-Unitree-Go2-Eval-v0 

How to deploy in IsaacLab

Screencast.from.2025.08.20.18.55.01.webm

4.1. Deployment Teacher Policy

python scripts/rsl_rl/demo.py --task Isaac-Extreme-Parkour-Teacher-Unitree-Go2-Play-v0 

4.2. Deployment Student Policy

python scripts/rsl_rl/demo.py --task Isaac-Extreme-Parkour-Student-Unitree-Go2-Play-v0 

Testing your modules

cd parkour_test/ ## You can test your modules in here

Visualize Control (ParkourViewportCameraController)

press 1 or 2: Going to environment

press 8: camera forward    

press 4: camera leftward   

press 6: camera rightward   

press 5: camera backward

press 0: Use free camera (can use mouse)

press 1: Not use free camera (default)

How to Deploy sim2sim or sim2real

it is a future work, i will open this repo as soon as possible

• sim2sim: isaaclab to mujoco

• sim2real: isaaclab to real world

see this repo

TODO list

• Opening code for training Teacher model

• Opening code for training Distillation

• Opening code for deploying policy in IsaacLab by demo: code refer site

• Opening code for deploying policy by sim2sim (mujoco)

• Opening code for deploying policy in real world

Citation

If you use this code for your research, you must cite the following paper:

@article{cheng2023parkour,
title={Extreme Parkour with Legged Robots},
author={Cheng, Xuxin and Shi, Kexin and Agarwal, Ananye and Pathak, Deepak},
journal={arXiv preprint arXiv:2309.14341},
year={2023}
}

@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}
}

Copyright (c) 2025, Sangbaek Park

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software …

The use of this software in academic or scientific publications requires
explicit citation of the following repository:

https://github.com/CAI23sbP/Isaaclab_Parkour

contact us

[email protected]