Extended Isaac Gym Environments for Legged Robots

Warning

This repository is still under development. Documentation is incomplete and the code may contain bugs.

This repository extends the original legged_gym. And is used as an submodule in PegasusFlow

Newly Added Features

• rsl_rl 3.3.0 support: Update support from rsl_rl 1.0.2 to 3.3.0.
• Nvidia Warp SDF & Raycasting: Integration of Nvidia Warp SDF, raycasting and depth camera for enhanced environment interaction.
• Main-Rollout Environment Architecture: Implementation of a main-rollout architecture for sampling-based methods.

anymal_rollout.mp4

• Confined Terrain Generation & OBJ Terrain Support: Added confined terrain generation and support for OBJ terrains. To generate OBJ terrains, you can refer to leggedrobotics/terrain-generator, MasterYip/blender_robotic_utils.
• Miscellaneous Enhancements:
  • gym_visualizer integration
  • benchmarking tools
  • etc.