legged-robots-manipulation is a loco-manipulation repository for (wheel-)legged robots. The code is built on legged_gym.
Project Page:wheel-legged-loco-manipulation (IROS Oral 2024)
The current repository contains airbot ,go2_arx,b2w_z1,aliengo_z1 and b2w. The current repository is a partial implementation of the paper.The repository is still under construction for various reasons, and will be releasing issac lab versions and vision-based versions in the near future.
- legged-robots-manipulation for isaacgym
- legged-robots-manipulation for isaaclab
- end2end vision-based loco-manipulation method
b2w is a locomotion demo for the Unitree b2w robot.
- You are supposed to install the isaac_gym,rsl_rl and legged_gym.Please install the above dependencies (Isaac Gym Preview 4, rsl_rl, legged_gym) as described in legged_gym.
cd loco_manipulation_gym
pip install -e .
python tran.py --task=b2w --rl_device=cuda:0
# or
python train.py --task=airbot --rl_device=cuda:0
If you use this work, please cite this paper:
@misc{wang2024armconstrained,
title={Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot},
author={Zifan Wang, Yufei Jia, Lu Shi, Haoyu Wang, Haizhou Zhao, Xueyang Li, Jinni Zhou, Jun Ma and Guyue Zhou},
year={2024},
eprint={2403.16535},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
IEEE_concur_reimbursement_process.pdf
This code builds upon following open-source code-bases. Please visit the URLs to see the respective LICENSES: