first commit

.gitignore

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+# These are some examples of commonly ignored file patterns.
+# You should customize this list as applicable to your project.
+# Learn more about .gitignore:
+#     https://www.atlassian.com/git/tutorials/saving-changes/gitignore
+
+# Node artifact files
+node_modules/
+dist/
+
+# Compiled Java class files
+*.class
+
+# Compiled Python bytecode
+*.py[cod]
+
+# Log files
+*.log
+
+# Package files
+*.jar
+
+# Maven
+target/
+dist/
+
+# JetBrains IDE
+.idea/
+
+# Unit test reports
+TEST*.xml
+
+# Generated by MacOS
+.DS_Store
+
+# Generated by Windows
+Thumbs.db
+
+# Applications
+*.app
+*.exe
+*.war
+
+# Large media files
+*.mp4
+*.tiff
+*.avi
+*.flv
+*.mov
+*.wmv
+
+# VS Code
+.vscode
+# logs
+logs
+runs
+
+# other
+*.egg-info
+__pycache__

LICENSE

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+BSD 3-Clause License
+Copyright (c) 2024 Yasen Jia([email protected], https://github.com/lupinjia)
+All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# Legged Robotics in Genesis
+
+A [legged_gym](https://github.com/leggedrobotics/legged_gym) based framework for training legged robots in [genesis](https://github.com/Genesis-Embodied-AI/Genesis/tree/main)
+
+
+## Usage
+
+1. Create a new python virtual env with python>=3.9
+2. Install [PyTorch](https://pytorch.org/)
+3. Install Genesis following the instructions in the [Genesis repo](https://github.com/Genesis-Embodied-AI/Genesis)
+4. Install rsl_rl and tensorboard
+   ```bash
+   # Install rsl_rl.
+   git clone https://github.com/leggedrobotics/rsl_rl
+   cd rsl_rl && git checkout v1.0.2 && pip install -e .
+
+   # Install tensorboard.
+   pip install tensorboard
+   ```
+5. Install genesis_lr
+   ```bash
+   git clone https://github.com/lupinjia/genesis_lr
+   cd genesis_lr
+   pip install -e .
+   ```
+
+## Features
+
+- **Totally based on [legged_gym](https://github.com/leggedrobotics/legged_gym)**
+
+  It's easy to use for those who are familiar with legged_gym and rsl_rl
+
+- **Faster and Smaller**
+
+  For a go2 walking on the plane task with 4096 envs, the training speed is approximately **1.3x** compared to [Isaac Gym](https://developer.nvidia.com/isaac-gym).
+
+  - Training speed in genesis: 
+  ![](./test/genesis_rl_speed.png)
+
+  - Training speed in isaac gym: 
+  ![](./test/isaacgym_speed.png)
+
+  While the graphics memory usage is roughly **1/2** compared to IsaacGym.
+
+  - Graphics memory usage in genesis: 
+  ![](./test/genesis_memory_usage.png)
+
+  - Graphics memory usage in isaac gym: 
+  ![](./test/isaacgym_memory_usage.png)
+
+  With this smaller memory usage, it's possible to run more parallel environments, which can further improve the training speed.
+
+## Acknowledgements
+
+- [Genesis](https://github.com/Genesis-Embodied-AI/Genesis/tree/main)
+- [Genesis-backflip](https://github.com/ziyanx02/Genesis-backflip)
+- [legged_gym](https://github.com/leggedrobotics/legged_gym)
+- [rsl_rl](https://github.com/leggedrobotics/rsl_rl)
+
+## TODO
+
+- [] Add Heightfield support

legged_gym/__init__.py

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+import os
+
+LEGGED_GYM_ROOT_DIR = os.path.dirname(os.path.dirname(os.path.realpath(__file__)))
+LEGGED_GYM_ENVS_DIR = os.path.join(LEGGED_GYM_ROOT_DIR, 'legged_gym', 'envs')

legged_gym/envs/__init__.py

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+# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause
+# 
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# Copyright (c) 2021 ETH Zurich, Nikita Rudin
+
+from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
+from .base.legged_robot import LeggedRobot
+from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
+import os
+
+from legged_gym.utils.task_registry import task_registry
+
+task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
+

legged_gym/envs/base/base_config.py

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+# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause
+# 
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# Copyright (c) 2021 ETH Zurich, Nikita Rudin
+
+import inspect
+
+class BaseConfig:
+    def __init__(self) -> None:
+        """ Initializes all member classes recursively. Ignores all namse starting with '__' (buit-in methods)."""
+        self.init_member_classes(self)
+
+    @staticmethod
+    def init_member_classes(obj):
+        # iterate over all attributes names
+        for key in dir(obj):
+            # disregard builtin attributes
+            # if key.startswith("__"):
+            if key=="__class__":
+                continue
+            # get the corresponding attribute object
+            var =  getattr(obj, key)
+            # check if it the attribute is a class
+            if inspect.isclass(var):
+                # instantate the class
+                i_var = var()
+                # set the attribute to the instance instead of the type
+                setattr(obj, key, i_var)
+                # recursively init members of the attribute
+                BaseConfig.init_member_classes(i_var)

legged_gym/envs/base/base_task.py

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+# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause
+# 
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# Copyright (c) 2021 ETH Zurich, Nikita Rudin
+
+import sys
+import numpy as np
+import torch
+import time
+import genesis as gs
+
+# Base class for RL tasks
+class BaseTask():
+
+    def __init__(self, cfg, sim_device, headless):
+
+        self.render_fps = 50
+        self.last_frame_time = 0
+
+        if not torch.cuda.is_available():
+            self.device = torch.device('cpu')
+        else:
+            assert sim_device in ["cpu", "cuda"]
+            self.device = torch.device(sim_device)
+        self.headless = headless
+
+        self.num_envs = 1 if cfg.env.num_envs == 0 else cfg.env.num_envs
+        self.num_build_envs = self.num_envs
+        self.num_obs = cfg.env.num_observations
+        self.num_privileged_obs = cfg.env.num_privileged_obs
+        self.num_actions = cfg.env.num_actions
+
+        # allocate buffers
+        self.obs_buf = torch.zeros(self.num_envs, self.num_obs, device=self.device, dtype=gs.tc_float)
+        self.rew_buf = torch.zeros(self.num_envs, device=self.device, dtype=gs.tc_float)
+        self.reset_buf = torch.ones(self.num_envs, device=self.device, dtype=gs.tc_int)
+        self.episode_length_buf = torch.zeros(self.num_envs, device=self.device, dtype=gs.tc_int)
+        self.time_out_buf = torch.zeros(self.num_envs, device=self.device, dtype=gs.tc_int)
+        if self.num_privileged_obs is not None:
+            self.privileged_obs_buf = torch.zeros(self.num_envs, self.num_privileged_obs, device=self.device, dtype=gs.tc_float)
+        else: 
+            self.privileged_obs_buf = None
+
+        self.extras = {}
+
+        self.create_sim()
+
+    def get_observations(self):
+        return self.obs_buf
+
+    def get_privileged_observations(self):
+        return self.privileged_obs_buf
+
+    def reset_idx(self, env_ids):
+        """Reset selected robots"""
+        raise NotImplementedError
+
+    def reset(self):
+        """ Reset all robots"""
+        self.reset_idx(torch.arange(self.num_envs, device=self.device))
+        obs, privileged_obs, _, _, _ = self.step(torch.zeros(self.num_envs, self.num_actions, device=self.device, requires_grad=False))
+        return obs, privileged_obs
+
+    def step(self, actions):
+        raise NotImplementedError