Rapid Motor Adaptation

Description

This repo contains implementation of the paper RMA: Rapid Motor Adaptation for Legged Robots

Table of Contents

• Installation
• Usage
• Configuration

Installation

This repo requires the following packages:

• Isaac Gym
• Legged Gym
• RSL-RL

To install Isaac Gym, go to the link and follow the instructions on the page.

1. clone this repo

  cd rsl_rl-1.0.2
  pip install -e .
  cd ..

  cd legged_gym
  pip install -e .
  cd ..

Usage

To train your robot run

    python3 legged_gym/scripts/train.py --task=[robot name]  

To evaluate the trained policy run

    python3 legged_gym/scripts/play.py --task=[robot name]

Configuration

Requires python 3.8 and numpy version<=1.24.