instructions.md

Quadrupeds Locomotion

A reinforcement learning project for robot locomotion using RSL-RL framework.

Setup

1. Clone the repository:

git clone git@github.com:Argo-Robot/quadrupeds_locomotion.git --recursive
cd quadrupeds_locomotion

2. Initialize the submodules:

git submodule update --init --recursive

4. Create and activate virtual environment:

python3 -m venv venv
source venv/bin/activate

5. Install dependencies:

# Core dependencies
pip install -r requirements.txt

# Install RSL-RL
cd rsl_rl
pip install -e .
cd ..


# Install Genesis
cd genesis
pip install -e .
cd ..

Usage

Train the Go2 robot:

python src/go2_train.py --exp_name="my_experiment" --max_iterations=1000

Project Structure

quadrupeds_locomotion/
├── src/
│   ├── go2_train.py    # Training script
│   └── go2_env.py      # Environment
├── rsl_rl/             # RSL-RL framework
└── requirements.txt     # Project dependencies

License

MIT License

Contributing

1. Fork the repository
2. Create feature branch
3. Submit pull request