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Releases: felipemohr/IsaacLab-Quadruped-Tasks

v3.3.0

21 Oct 01:23
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Added
^^^^^

  • Create STAIRS_TERRAINS_CFG and STAIRS_TERRAINS_PLAY_CFG terrain configurations
  • Create pen_flat_orientation penalization term for QuadrupedEnvCfg
  • Create Go2BlindStairsEnvCfg, AnymalDBlindStairsEnvCfg and SpotBlindStairsEnvCfg environment configurations
  • Create tasks for Stairs terrains for Go2, AnymalD and Spot robots
  • Add pre-trained models for go2_blind_stairs, anymal_d_blind_stairs and spot_blind_stairs experiments
  • Add --checkpoint_path argument to rsl_rl train script

Changed
^^^^^

  • Create Go2BaseEnvCfg, AnymalDBaseEnvCfg and SpotBaseEnvCfg environment base classes

v3.2.0

27 Sep 01:30
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Added
^^^^^

  • Create BLIND_HARD_ROUGH_TERRAINS_CFG and BLIND_HARD_ROUGH_TERRAINS_PLAY_CFG terrain configurations
  • Create pen_undesired_contacts penalization term for QuadrupedEnvCfg

Changed
^^^^^

  • Update for Isaac Sim 4.2.0 and Isaac Lab 1.2.0
  • Change scale of joint_pos action to 0.2
  • Use new BLIND_HARD_ROUGH_TERRAINS_CFG in AnymalD and Spot tasks
  • Update pre-trained models for go2_blind_flat and go2_blind_rough experiments
  • Update pre-trained models for spot_blind_flat and spot_blind_rough experiments
  • Update pre-trained models for anymal_d_blind_flat and anymal_d_blind_rough experiments

v3.1.0

15 Sep 03:11
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Added
^^^^^

  • Add pre-trained models for anymal_d_blind_flat and anymal_d_blind_rough experiments
  • Add pre-trained models for spot_blind_flat and spot_blind_rough experiments

Changed
^^^^^

  • Update pre-trained models for go2_blind_flat and go2_blind_rough experiments
  • Update pen_joint_powers weight for QuadrupedEnvCfg
  • Update pen_joint_powers weight for Spot environments
  • Update pen_joint_powers and pen_joint_deviation weight fors ANYmalD environments
  • Remove increase_push_vel curriculum from QuadrupedEnvCfg
  • Remove bad_orientation termination from QuadrupedEnvCfg

v3.0.0

08 Sep 04:05
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Added
^^^^^

  • Create cfg, robot and agent folders
  • Create tasks for Spot robot from Boston Dynamics
  • Create tasks for ANYmal D robot from ANYbotics

Changed
^^^^^

  • Move unitree_go2 to robots folder
  • Move rsl_rl_cfg.py to agent folder
  • Move quadruped_env_cfg.py to cfg folder
  • Move go2_env_cfg.py to robots folder
  • Move BLIND_ROUGH_TERRAINS_CFG and BLIND_ROUGH_TERRAINS_PLAY_CFG to quadruped_terrains_cfg.py

v2.1.0

06 Sep 18:22
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Added
^^^^^

  • Add pre-trained models for go2_blind_flat and go2_blind_rough experiments
  • Create modify_event_parameter curriculum and include it in QuadrupedEnvCfg to modify push_robot event
  • Create disable_termination curriculum
  • Set terrain generator seed in go2_env_cfg.py

Changed
^^^^^

  • Increase lin_vel_x range of vel_command command in QuadrupedEnvCfg
  • Modify viewport camera of Go2BlindRoughEnvCfg
  • Update terrains proportion in BLIND_ROUGH_TERRAINS_CFG in go2_env_cfg.py

v2.0.0

03 Sep 01:28
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Added
^^^^^

  • Include terrain_levels curriculum in QuadrupedEnvCfg
  • Create terrain configurations for training Go2 in rough terrains
  • Create Go2BlindFlatPPORunnerCfg and Go2BlindRoughPPORunnerCfg configurations
  • Create Go2BlindFlatEnvCfg and Go2BlindRoughEnvCfg environment configurations for training Go2 robot
  • Create Go2BlindFlatEnvCfg_PLAY and Go2BlindRoughEnvCfg_PLAY environment configurations for playing Go2 robot

Changed
^^^^^

  • Update README.md with information for training and playing agents
  • Remove robot initialization from QuadrupedSceneCfg
  • Use TerrainImporterCfg in QuadrupedSceneCfg instead of GroundPlaneCfg
  • Replace Isaac-Quadruped-Go2-Flat-v0 with Isaac-Quadruped-Go2-Blind-Flat-v0

v1.1.0

30 Aug 03:18
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1.1.0 (2024-08-30)


Changed
^^^^^

* Update robot joint positions initial states in `QuadrupedEnvCfg`
* Include ``pen_joint_deviation`` and ``pen_feet_slide`` penalization terms in `QuadrupedEnvCfg`
* Remove ``rew_feet_air_time`` reward term from `QuadrupedEnvCfg`
* Remove ``joint_vel`` and ``feet_contact`` observations from `QuadrupedEnvCfg`

v1.0.0

30 Aug 03:17
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1.0.0 (2024-07-04)


Added
^^^^^

* Created `RSL-RL` training and playing scripts
* Created Unitree Go2 `RSL-RL` agent
* Created `QuadrupedEnvCfg` environment
* Created `omni.isaac.lab_quadruped_tasks` extension for Isaac Lab