Overview

This repository shows the training code for GRX Humanoid with IsaacLab.

This readme is ok for Isaaclab v2.3.0 and isaacsim v5.1.0

Installation

# install isaacsim
conda create -n lab230 python=3.11
conda activate lab230
pip install --upgrade pip
pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
isaacsim
# mkdir and clone code
mkdir GRX_humanoid && cd GRX_humanoid
git clone https://github.com/FFTAI/fourier_lab.git
git clone https://github.com/isaac-sim/IsaacLab.git
cd IsaacLab
# Switch IsaacLab to tag v2.3.0
git checkout v2.3.0
# install isaaclab 
./isaaclab.sh -i
# install rsl_rl from grx_humanoid project file
cd ../fourier_lab
../IsaacLab/isaaclab.sh -p -m pip install -e rsl_rl
# test the rsl_rl location(option)
../IsaacLab/isaaclab.sh -p -m pip show rsl-rl-lib 
# install robot project
cd exts/GRX_humanoid
python -m pip install -e .

if there are other tasks, do the same thing

Add your robot model and task

If youwant to add new robot
1.add models in {your workspace}/models
2.use convert tool get you usd model
3.add model config in asset
4.add new env config in locomotion/velocity(for example)
5.register new task

Tips before you start training

1.Before run the robot train, make sure you are in the right folder.

2.Ignore tasks that are not in the list below.

Run For GR2T2V2 WBC LOWER

# convert robot model from urdf to usd
python scripts/tools/convert_urdf.py models/gr2t2v2/urdf/GR2T2V2_lower.urdf  exts/GRX_humanoid/GRX_humanoid/assets/Robots/gr2t2v2_humanoid_lower.usd --merge-joints
# run script for training
../IsaacLab/isaaclab.sh -p scripts/rsl_rl/train.py --task GR2T2V2HumanoidRoughEnvCfg_WBC_LOWER --headless
# run script for playing
../IsaacLab/isaaclab.sh -p scripts/rsl_rl/play.py --task GR2T2V2HumanoidRoughEnvCfg_WBC_LOWER_Play
# log
tensorboard --logdir logs/rsl_rl/gr2t2v2_humanoid_rough_wbc_lower/

Run For WBC LOWER (PPV211, PPV222, PPV233 & PPV224)

# convert robot model from urdf to usd
python scripts/tools/convert_urdf.py models/gr3v2_1_1/basic_urdf/gr3v2_1_1_lower.urdf  exts/GRX_humanoid/GRX_humanoid/assets/Robots/ppv211_humanoid_lower.usd --merge-joints
# run script for training
../IsaacLab/isaaclab.sh -p scripts/rsl_rl/train.py --task PPV211HumanoidRoughEnvCfg_WBC_LOWER  --headless
# run script for playing
../IsaacLab/isaaclab.sh -p scripts/rsl_rl/play.py --task PPV211HumanoidRoughEnvCfg_WBC_LOWER_Play
# log
tensorboard --logdir  logs/rsl_rl/ppv211_humanoid_rough_wbc_lower/

Run For WBC FULL(PPV211, PPV222, PPV233 & PPV224)

# convert robot model from urdf to usd
python scripts/tools/convert_urdf.py models/gr3v2_1_1/basic_urdf/gr3v2_1_1_noArmColli.urdf  exts/GRX_humanoid/GRX_humanoid/assets/Robots/ppv211_noArmCollision.usd --merge-joints
# run script for training
../IsaacLab/isaaclab.sh -p scripts/rsl_rl/train.py --task PPV211HumanoidRoughEnvCfg_WBC_FULL  --headless
# run script for playing
../IsaacLab/isaaclab.sh -p scripts/rsl_rl/play.py --task PPV211HumanoidRoughEnvCfg_WBC_FULL_Play
# log
tensorboard --logdir  logs/rsl_rl/ppv211_humanoid_rough_wbc_full/

Debug

# If raise error: 
ImportError: /lib/x86_64-linux-gnu/libstdc++.so.6: version `CXXABI_1.3.15' not found (required by /usr/local/anaconda3/envs/lab230/lib/python3.11/lib-dynload/../.././libicui18n.so.78)
# Do it in the conda enviroment
export LD_LIBRARY_PATH="$CONDA_PREFIX/lib:$LD_LIBRARY_PATH"