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Installation Deploy using Conda

  1. install miniforge (x86_64 or arm64 depending on your platform) or pixi - the latter for full reproducibility.

  2. create an environment using the file in the folder deploy/installation:

conda env create -f deploy/installation/mamba_environment_humble.yaml
conda activate basic_locomotion_isaaclab_env

conda env create -f deploy/installation/mamba_environment_lyrical.yaml
conda activate basic_locomotion_isaaclab_env

pixi install --manifest-path deploy/installation/pixi.toml -e humble
pixi shell --manifest-path deploy/installation/pixi.toml -e humble

pixi install --manifest-path deploy/installation/pixi.toml -e lyrical
pixi shell --manifest-path deploy/installation/pixi.toml -e lyrical
  1. suggestion - add in your .bashrc some alias to run the activate/shell commands. You will run them multiple time!

Run Sim-to-Sim

Choose in deploy/config.py the robot/policy you want to run. Activate your environment conda/pixi. Then:

## Sim-to-Sim
python3 deploy/play_mujoco.py


## Sim-to-Sim with ROS2
source deploy/ros2_localhost_connect.sh (TERMINAL 1)
python3 deploy/run_controller_ros2.py (TERMINAL 1) 

source deploy/ros2_localhost_connect.sh (TERMINAL 2)
python3 deploy/run_simulator_ros2.py (TERMINAL 2)

source deploy/ros2_localhost_connect.sh (TERMINAL 3)
ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' (if want joystick) (TERMINAL 3)

Run Sim-to-Real

Choose in deploy/config.py the robot/policy you want to run. Activate your environment conda/pixi. This script matches well with the repo unitree-ros2-dls that you can use to control unitree go2/b2/a2/aliengo. If you use it, remember to source first unitree_ros2_connect.bash in every terminal.

## Sim-to-Real with ROS2
python3 run_controller_ros2.py (TERMINAL 1)

ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' (if want joystick) (TERMINAL 2)