From 1aeeb34653b506e86b2c1cfd74933841dc733011 Mon Sep 17 00:00:00 2001
From: huangweifeng <719566231@qq.com>
Date: Tue, 13 Oct 2026 21:25:03 +0800
Subject: [PATCH] Add standalone Huoyi training project
---
.gitattributes | 18 +
.gitignore | 39 +
.vscode/.gitignore | 10 +
.vscode/tools/setup_vscode.py | 220 ++++
CONTRIBUTORS.md | 23 +
LICENSE | 28 +
LICENSE-robot_lab | 201 ++++
README.md | 180 ++++
README_HUOYI.md | 76 ++
VERSION | 1 +
deep_robotics_model/LICENSE.txt | 28 +
.../meshes_solenopsis_visual/base_link.STL | Bin 0 -> 4308584 bytes
.../meshes_solenopsis_visual/fl_knee.STL | Bin 0 -> 720334 bytes
.../meshes_solenopsis_visual/fl_wheel.STL | Bin 0 -> 1139734 bytes
.../meshes_solenopsis_visual/fr_knee.STL | Bin 0 -> 719984 bytes
.../meshes_solenopsis_visual/fr_wheel.STL | Bin 0 -> 1139884 bytes
.../meshes_solenopsis_visual/hl_knee.STL | Bin 0 -> 717384 bytes
.../meshes_solenopsis_visual/hl_wheel.STL | Bin 0 -> 1139584 bytes
.../meshes_solenopsis_visual/hr_knee.STL | Bin 0 -> 716634 bytes
.../meshes_solenopsis_visual/hr_wheel.STL | Bin 0 -> 1139634 bytes
.../optimization_manifest.json | 92 ++
.../M20/M20_urdf/urdf/Solenopsis.urdf | 292 ++++++
deep_robotics_model/README.md | 18 +
docs/fire_ant_prototype_specs.md | 178 ++++
docs/imgs/deeprobotics_lite3.png | Bin 0 -> 150580 bytes
docs/imgs/deeprobotics_m20.png | Bin 0 -> 208383 bytes
docs/motor_model_update_comparison.md | 51 +
docs/solenopsis_urdf_comparison.md | 114 ++
pyproject.toml | 85 ++
scripts/reinforcement_learning/rl_utils.py | 44 +
.../reinforcement_learning/rsl_rl/cli_args.py | 97 ++
scripts/reinforcement_learning/rsl_rl/eval.py | 716 +++++++++++++
scripts/reinforcement_learning/rsl_rl/eval.sh | 23 +
scripts/reinforcement_learning/rsl_rl/play.py | 280 +++++
.../reinforcement_learning/rsl_rl/train.py | 214 ++++
.../tools/generate_solenopsis_cad_meshes.py | 306 ++++++
scripts/tools/list_envs.py | 80 ++
scripts/tools/optimize_solenopsis_stl.py | 100 ++
source/rl_training/config/extension.toml | 35 +
source/rl_training/pyproject.toml | 3 +
source/rl_training/rl_training/__init__.py | 15 +
.../rl_training/assets/__init__.py | 32 +
.../rl_training/assets/deeprobotics.py | 124 +++
.../rl_training/rl_training/tasks/__init__.py | 27 +
.../tasks/manager_based/__init__.py | 16 +
.../manager_based/locomotion/__init__.py | 14 +
.../locomotion/velocity/__init__.py | 18 +
.../locomotion/velocity/config/__init__.py | 15 +
.../velocity/config/quadruped/__init__.py | 15 +
.../quadruped/deeprobotics_lite3/__init__.py | 36 +
.../deeprobotics_lite3/agents/__init__.py | 5 +
.../agents/rsl_rl_ppo_cfg.py | 48 +
.../deeprobotics_lite3/flat_env_cfg.py | 32 +
.../deeprobotics_lite3/rough_env_cfg.py | 183 ++++
.../velocity/config/wheeled/__init__.py | 15 +
.../wheeled/deeprobotics_m20/__init__.py | 46 +
.../deeprobotics_m20/agents/__init__.py | 5 +
.../deeprobotics_m20/agents/rsl_rl_ppo_cfg.py | 56 +
.../wheeled/deeprobotics_m20/flat_env_cfg.py | 32 +
.../wheeled/deeprobotics_m20/rough_env_cfg.py | 504 +++++++++
.../locomotion/velocity/mdp/__init__.py | 21 +
.../locomotion/velocity/mdp/commands.py | 130 +++
.../locomotion/velocity/mdp/curriculums.py | 95 ++
.../locomotion/velocity/mdp/events.py | 213 ++++
.../locomotion/velocity/mdp/observations.py | 105 ++
.../locomotion/velocity/mdp/rewards.py | 985 ++++++++++++++++++
.../locomotion/velocity/velocity_env_cfg.py | 866 +++++++++++++++
.../rl_training/ui_extension_example.py | 52 +
source/rl_training/setup.py | 55 +
69 files changed, 7312 insertions(+)
create mode 100644 .gitattributes
create mode 100644 .gitignore
create mode 100644 .vscode/.gitignore
create mode 100644 .vscode/tools/setup_vscode.py
create mode 100644 CONTRIBUTORS.md
create mode 100644 LICENSE
create mode 100644 LICENSE-robot_lab
create mode 100644 README.md
create mode 100644 README_HUOYI.md
create mode 100644 VERSION
create mode 100644 deep_robotics_model/LICENSE.txt
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/base_link.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/fl_knee.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/fl_wheel.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/fr_knee.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/fr_wheel.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/hl_knee.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/hl_wheel.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/hr_knee.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/hr_wheel.STL
create mode 100644 deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/optimization_manifest.json
create mode 100644 deep_robotics_model/M20/M20_urdf/urdf/Solenopsis.urdf
create mode 100644 deep_robotics_model/README.md
create mode 100644 docs/fire_ant_prototype_specs.md
create mode 100644 docs/imgs/deeprobotics_lite3.png
create mode 100644 docs/imgs/deeprobotics_m20.png
create mode 100644 docs/motor_model_update_comparison.md
create mode 100644 docs/solenopsis_urdf_comparison.md
create mode 100644 pyproject.toml
create mode 100644 scripts/reinforcement_learning/rl_utils.py
create mode 100644 scripts/reinforcement_learning/rsl_rl/cli_args.py
create mode 100644 scripts/reinforcement_learning/rsl_rl/eval.py
create mode 100755 scripts/reinforcement_learning/rsl_rl/eval.sh
create mode 100644 scripts/reinforcement_learning/rsl_rl/play.py
create mode 100644 scripts/reinforcement_learning/rsl_rl/train.py
create mode 100644 scripts/tools/generate_solenopsis_cad_meshes.py
create mode 100644 scripts/tools/list_envs.py
create mode 100644 scripts/tools/optimize_solenopsis_stl.py
create mode 100644 source/rl_training/config/extension.toml
create mode 100644 source/rl_training/pyproject.toml
create mode 100644 source/rl_training/rl_training/__init__.py
create mode 100644 source/rl_training/rl_training/assets/__init__.py
create mode 100644 source/rl_training/rl_training/assets/deeprobotics.py
create mode 100644 source/rl_training/rl_training/tasks/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/quadruped/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/quadruped/deeprobotics_lite3/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/quadruped/deeprobotics_lite3/agents/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/quadruped/deeprobotics_lite3/agents/rsl_rl_ppo_cfg.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/quadruped/deeprobotics_lite3/flat_env_cfg.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/quadruped/deeprobotics_lite3/rough_env_cfg.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/wheeled/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/wheeled/deeprobotics_m20/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/wheeled/deeprobotics_m20/agents/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/wheeled/deeprobotics_m20/agents/rsl_rl_ppo_cfg.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/wheeled/deeprobotics_m20/flat_env_cfg.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/config/wheeled/deeprobotics_m20/rough_env_cfg.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/mdp/__init__.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/mdp/commands.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/mdp/curriculums.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/mdp/events.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/mdp/observations.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/mdp/rewards.py
create mode 100644 source/rl_training/rl_training/tasks/manager_based/locomotion/velocity/velocity_env_cfg.py
create mode 100644 source/rl_training/rl_training/ui_extension_example.py
create mode 100644 source/rl_training/setup.py
diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000..d917487
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,18 @@
+# copied and modified from https://github.com/NVIDIA/warp/blob/main/.gitattributes
+* text=auto
+*.sh text eol=LF
+
+# # copied from https://github.com/isaac-sim/IsaacLab/blob/main/.gitattributes
+# *.usd filter=lfs diff=lfs merge=lfs -text
+# *.dae filter=lfs diff=lfs merge=lfs -text
+# *.mtl filter=lfs diff=lfs merge=lfs -text
+# *.obj filter=lfs diff=lfs merge=lfs -text
+# *.gif filter=lfs diff=lfs merge=lfs -text
+# *.png filter=lfs diff=lfs merge=lfs -text
+# *.jpg filter=lfs diff=lfs merge=lfs -text
+# *.psd filter=lfs diff=lfs merge=lfs -text
+# *.mp4 filter=lfs diff=lfs merge=lfs -text
+# *.usda filter=lfs diff=lfs merge=lfs -text
+# *.hdr filter=lfs diff=lfs merge=lfs -text
+# *.pt filter=lfs diff=lfs merge=lfs -text
+# *.jit filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..389dd89
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,39 @@
+# Omniverse
+**/*.dmp
+**/.thumbs
+
+# Python
+.DS_Store
+**/*.egg-info/
+**/__pycache__/
+**/.pytest_cache/
+**/*.pyc
+**/*.pb
+
+# IDE
+**/.idea/
+**/.vscode/
+# Don't ignore the top-level .vscode directory as it is
+# used to configure VS Code settings
+!.vscode
+
+# Outputs
+**/runs/*
+**/logs/*
+**/recordings/*
+**/output/*
+**/outputs/*
+**/videos/*
+**/wandb/*
+**/.neptune/*
+docker/artifacts/
+*.tmp
+
+# Isaac-Sim packman
+_isaac_sim*
+_repo
+_build
+.lastformat
+
+
+**/usd/*
diff --git a/.vscode/.gitignore b/.vscode/.gitignore
new file mode 100644
index 0000000..10b0af3
--- /dev/null
+++ b/.vscode/.gitignore
@@ -0,0 +1,10 @@
+# Note: These files are kept for development purposes only.
+!tools/launch.template.json
+!tools/settings.template.json
+!tools/setup_vscode.py
+!extensions.json
+!tasks.json
+
+# Ignore all other files
+.python.env
+*.json
diff --git a/.vscode/tools/setup_vscode.py b/.vscode/tools/setup_vscode.py
new file mode 100644
index 0000000..07bf6f4
--- /dev/null
+++ b/.vscode/tools/setup_vscode.py
@@ -0,0 +1,220 @@
+# Copyright (c) 2024-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""This script sets up the vs-code settings for the Isaac Lab project.
+
+This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
+the ".vscode/settings.json" file.
+
+This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
+when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
+"""
+
+import argparse
+import os
+import pathlib
+import platform
+import re
+import sys
+
+PROJECT_DIR = pathlib.Path(__file__).parents[2]
+"""Path to the the project directory."""
+
+try:
+ import isaacsim # noqa: F401
+
+ isaacsim_dir = os.environ.get("ISAAC_PATH", "")
+except ModuleNotFoundError or ImportError:
+ # Create a parser to get the isaac-sim path
+ parser = argparse.ArgumentParser(description="Setup the VSCode settings for the project.")
+ parser.add_argument("--isaac_path", type=str, help="The absolute path to the Isaac Sim installation.")
+ args = parser.parse_args()
+
+ # parse the isaac-sim directory
+ isaacsim_dir = args.isaac_path
+ # check if the isaac-sim directory is provided
+ if not os.path.exists(isaacsim_dir):
+ raise FileNotFoundError(
+ f"Could not find the isaac-sim directory: {isaacsim_dir}. Please provide the correct path to the Isaac Sim"
+ " installation."
+ )
+except EOFError:
+ print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
+ print("Please run the script in an interactive shell to accept the EULA.")
+ print("Skipping the setup of the VSCode settings...")
+ sys.exit(0)
+
+# check if the isaac-sim directory exists
+if not os.path.exists(isaacsim_dir):
+ raise FileNotFoundError(
+ f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
+ "\n\t1. The Isaac Sim directory does not exist as provided CLI path."
+ "\n\t2. The script could import the 'isaacsim' package. This could be due to the 'isaacsim' package not being "
+ "installed in the Python environment.\n"
+ "\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
+ )
+
+ISAACSIM_DIR = isaacsim_dir
+"""Path to the isaac-sim directory."""
+
+
+def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
+ """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
+
+ The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
+ "{ISAACSIM_DIR}/.vscode/settings.json" file.
+
+ If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
+
+ Args:
+ isaaclab_settings: The settings string to use as template.
+
+ Returns:
+ The settings string with overwritten python analysis extra paths.
+ """
+ # isaac-sim settings
+ isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
+
+ # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
+ # if this file does not exist, we will not add any extra paths
+ if os.path.exists(isaacsim_vscode_filename):
+ # read the path names from the isaac-sim settings file
+ with open(isaacsim_vscode_filename) as f:
+ vscode_settings = f.read()
+ # extract the path names
+ # search for the python.analysis.extraPaths section and extract the contents
+ settings = re.search(
+ r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
+ )
+ settings = settings.group(0)
+ settings = settings.split('"python.analysis.extraPaths": [')[-1]
+ settings = settings.split("]")[0]
+
+ # read the path names from the isaac-sim settings file
+ path_names = settings.split(",")
+ path_names = [path_name.strip().strip('"') for path_name in path_names]
+ path_names = [path_name for path_name in path_names if len(path_name) > 0]
+
+ # change the path names to be relative to the Isaac Lab directory
+ rel_path = os.path.relpath(ISAACSIM_DIR, PROJECT_DIR)
+ path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
+ else:
+ path_names = []
+ print(
+ f"[WARN] Could not find Isaac Sim VSCode settings: {isaacsim_vscode_filename}."
+ "\n\tThis will result in missing 'python.analysis.extraPaths' in the VSCode"
+ "\n\tsettings, which limits the functionality of the Python language server."
+ "\n\tHowever, it does not affect the functionality of the Isaac Lab project."
+ "\n\tWe are working on a fix for this issue with the Isaac Sim team."
+ )
+
+ # add the path names that are in the Isaac Lab extensions directory
+ isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "source"))
+ path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
+
+ # combine them into a single string
+ path_names = ",\n\t\t".expandtabs(4).join(path_names)
+ # deal with the path separator being different on Windows and Unix
+ path_names = path_names.replace("\\", "/")
+
+ # replace the path names in the Isaac Lab settings file with the path names parsed
+ isaaclab_settings = re.sub(
+ r"\"python.analysis.extraPaths\": \[.*?\]",
+ '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
+ isaaclab_settings,
+ flags=re.DOTALL,
+ )
+ # return the Isaac Lab settings string
+ return isaaclab_settings
+
+
+def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
+ """Overwrite the default python interpreter in the Isaac Lab settings file.
+
+ The default python interpreter is replaced with the path to the python interpreter used by the
+ isaac-sim project. This is necessary because the default python interpreter is the one shipped with
+ isaac-sim.
+
+ Args:
+ isaaclab_settings: The settings string to use as template.
+
+ Returns:
+ The settings string with overwritten default python interpreter.
+ """
+ # read executable name
+ python_exe = os.path.normpath(sys.executable)
+
+ # replace with Isaac Sim's python.sh or python.bat scripts to make sure python with correct
+ # source paths is set as default
+ if f"kit{os.sep}python{os.sep}bin{os.sep}python" in python_exe:
+ # Check if the OS is Windows or Linux to use appropriate shell file
+ if platform.system() == "Windows":
+ python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.bat")
+ else:
+ python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.sh")
+
+ # replace the default python interpreter in the Isaac Lab settings file with the path to the
+ # python interpreter in the Isaac Lab directory
+ isaaclab_settings = re.sub(
+ r"\"python.defaultInterpreterPath\": \".*?\"",
+ f'"python.defaultInterpreterPath": "{python_exe}"',
+ isaaclab_settings,
+ flags=re.DOTALL,
+ )
+ # return the Isaac Lab settings file
+ return isaaclab_settings
+
+
+def main():
+ # Isaac Lab template settings
+ isaaclab_vscode_template_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "settings.template.json")
+ # make sure the Isaac Lab template settings file exists
+ if not os.path.exists(isaaclab_vscode_template_filename):
+ raise FileNotFoundError(
+ f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
+ )
+ # read the Isaac Lab template settings file
+ with open(isaaclab_vscode_template_filename) as f:
+ isaaclab_template_settings = f.read()
+
+ # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
+ isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
+ # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
+ # python interpreter used to call this script
+ isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
+
+ # add template notice to the top of the file
+ header_message = (
+ "// This file is a template and is automatically generated by the setup_vscode.py script.\n"
+ "// Do not edit this file directly.\n"
+ "// \n"
+ f"// Generated from: {isaaclab_vscode_template_filename}\n"
+ )
+ isaaclab_settings = header_message + isaaclab_settings
+
+ # write the Isaac Lab settings file
+ isaaclab_vscode_filename = os.path.join(PROJECT_DIR, ".vscode", "settings.json")
+ with open(isaaclab_vscode_filename, "w") as f:
+ f.write(isaaclab_settings)
+
+ # copy the launch.json file if it doesn't exist
+ isaaclab_vscode_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "launch.json")
+ isaaclab_vscode_template_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "launch.template.json")
+ if not os.path.exists(isaaclab_vscode_launch_filename):
+ # read template launch settings
+ with open(isaaclab_vscode_template_launch_filename) as f:
+ isaaclab_template_launch_settings = f.read()
+ # add header
+ header_message = header_message.replace(
+ isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
+ )
+ isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
+ # write the Isaac Lab launch settings file
+ with open(isaaclab_vscode_launch_filename, "w") as f:
+ f.write(isaaclab_launch_settings)
+
+
+if __name__ == "__main__":
+ main()
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
new file mode 100644
index 0000000..829eafb
--- /dev/null
+++ b/CONTRIBUTORS.md
@@ -0,0 +1,23 @@
+# RL Training Developers and Contributors
+
+This is the official list of RL Training Project developers and contributors.
+
+To see the full list of contributors, please check the revision history in the source control.
+
+Guidelines for modifications:
+
+* Please keep the lists sorted alphabetically.
+* Names should be added to this file as: *individual names* or *organizations*.
+
+## Developers
+
+* [Bo Peng](https://www.linkedin.com/in/bo-peng-647068272/)
+
+## Contributors
+
+* [Ziqi Fan](https://github.com/fan-ziqi)
+* Zhongliang Pan
+
+## Acknowledgements
+
+
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..6c1a48b
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2025, DEEPRoboticsLab
+
+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
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+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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diff --git a/LICENSE-robot_lab b/LICENSE-robot_lab
new file mode 100644
index 0000000..e08a51a
--- /dev/null
+++ b/LICENSE-robot_lab
@@ -0,0 +1,201 @@
+ Apache License
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+
+ To apply the Apache License to your work, attach the following
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diff --git a/README.md b/README.md
new file mode 100644
index 0000000..4c5228e
--- /dev/null
+++ b/README.md
@@ -0,0 +1,180 @@
+rl_training — 火蚁独立训练版本
+
+> [!IMPORTANT]
+> 本仓库是火蚁（Solenopsis）轮足平台的独立发布副本。火蚁专用训练、Stage 2、URDF与资产说明请先阅读 [README_HUOYI.md](README_HUOYI.md)。模型资产已直接包含在仓库中，不需要初始化 Git 子模块。
+
+[](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[](https://isaac-sim.github.io/IsaacLab)
+[](https://discord.gg/gdM9mQutC8)
+[](https://docs.python.org/3/whatsnew/3.11.html)
+[](https://releases.ubuntu.com/22.04/)
+[](https://opensource.org/license/bsd-3-clause)
+
+## Tutorial Videos
+We've released the following tutorials for training and deploying a reinforcement learning policy. Please check it out on [Bilibili](https://b23.tv/UoIqsFn) or [YouTube](https://youtube.com/playlist?list=PLy9YHJvMnjO0X4tx_NTWugTUMJXUrOgFH&si=pjUGF5PbFf3tGLFz)!
+
+## Overview
+
+**rl_training** is a RL training library for deeprobotics robots, based on IsaacLab. The table below lists all available environments:
+
+| Robot Model | Environment Name (ID) | Screenshot |
+|---------------------|------------------------------------------------------------|------------|
+| [Deeprobotics Lite3](https://www.deeprobotics.cn/robot/index/product1.html) | Rough-Deeprobotics-Lite3-v0 | 
+| [Deeprobotics M20](https://www.deeprobotics.cn/robot/index/lynx.html) | Rough-Deeprobotics-M20-v0 | 
+
+> [!NOTE]
+> If you want to deploy policies in mujoco or real robots, please use the corresponding deploy repo in [Deep Robotics Github Center](https://github.com/DeepRoboticsLab).
+## Contribution
+
+Everyone is welcome to contribute to this repo. If you discover a bug or optimize our training config, just submit a pull request and we will look into it.
+## Installation
+
+- Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html). We recommend using the conda installation as it simplifies calling Python scripts from the terminal.
+
+- Clone this repository separately from the Isaac Lab installation (i.e. outside the `IsaacLab` directory):
+
+ ```bash
+ git clone https://github.com/weifenghuang812/huoyi_training.git
+ cd huoyi_training
+ ```
+
+- Using a python interpreter that has Isaac Lab installed, install the library
+
+ ```bash
+ python -m pip install -e source/rl_training
+ ```
+
+- Verify that the extension is correctly installed by running the following command to print all the available environments in the extension:
+
+ ```bash
+ python scripts/tools/list_envs.py
+ ```
+
+
+
+Setup as Omniverse Extension (Optional, click to expand)
+
+We provide an example UI extension that will load upon enabling your extension defined in `source/rl_training/rl_training/ui_extension_example.py`.
+
+To enable your extension, follow these steps:
+
+1. **Add the search path of your repository** to the extension manager:
+ - Navigate to the extension manager using `Window` -> `Extensions`.
+ - Click on the **Hamburger Icon** (☰), then go to `Settings`.
+ - In the `Extension Search Paths`, enter the absolute path to `rl_trainingb/source`
+ - If not already present, in the `Extension Search Paths`, enter the path that leads to Isaac Lab's extension directory directory (`IsaacLab/source`)
+ - Click on the **Hamburger Icon** (☰), then click `Refresh`.
+
+2. **Search and enable your extension**:
+ - Find your extension under the `Third Party` category.
+ - Toggle it to enable your extension.
+
+
+
+## Try examples
+
+Deeprobotics Lite3:
+
+```bash
+# Train
+python scripts/reinforcement_learning/rsl_rl/train.py --task=Rough-Deeprobotics-Lite3-v0 --headless
+
+# Play
+python scripts/reinforcement_learning/rsl_rl/play.py --task=Rough-Deeprobotics-Lite3-v0 --num_envs=10
+```
+
+Deeprobotics M20:
+
+```bash
+# Train
+python scripts/reinforcement_learning/rsl_rl/train.py --task=Rough-Deeprobotics-M20-v0 --headless
+
+# Play
+python scripts/reinforcement_learning/rsl_rl/play.py --task=Rough-Deeprobotics-M20-v0 --num_envs=10
+```
+
+> [!NOTE]
+> If you want to control a **SINGLE ROBOT** with the keyboard during playback, add `--keyboard` at the end of the play script.
+>
+> ```
+> Key bindings:
+> ====================== ========================= ========================
+> Command Key (+ve axis) Key (-ve axis)
+> ====================== ========================= ========================
+> Move along x-axis Numpad 8 / Arrow Up Numpad 2 / Arrow Down
+> Move along y-axis Numpad 4 / Arrow Right Numpad 6 / Arrow Left
+> Rotate along z-axis Numpad 7 / Z Numpad 9 / X
+> ====================== ========================= ========================
+> ```
+* Record video of a trained agent (requires installing `ffmpeg`), add `--video --video_length 200`
+* Play/Train with 32 environments, add `--num_envs 32`
+* Play on specific folder or checkpoint, add `--load_run run_folder_name --checkpoint model.pt`
+* Resume training from folder or checkpoint, add `--resume --load_run run_folder_name --checkpoint model.pt`
+
+## Trained Results
+You can download our trained examples for reference of the training process. This should be expected if you run our training process properly. [M20](https://drive.google.com/file/d/1PAGIHOI6Lsge_JA9kU3w7RU-GyqXybob/view?usp=drive_link) and [Lite3](https://drive.google.com/file/d/1EgCVQA552x3YiaRhPRv675TSd01yqF0c/view?usp=drive_link)
+
+
+
+## Multi-gpu acceleration
+* To train with multiple GPUs, use the following command, where --nproc_per_node represents the number of available GPUs:
+ ```bash
+ python -m torch.distributed.run --nnodes=1 --nproc_per_node=2 scripts/reinforcement_learning/rsl_rl/train.py --task= --headless
+ python -m torch.distributed.run --nnodes=1 --nproc_per_node=2 scripts/reinforcement_learning/rsl_rl/train.py --task=Rough-Deeprobotics-Lite3-v0 --headless --distributed --num_envs=2048
+ ```
+* Note: each gpu will have the same number of envs specified in the config, to use the previous total number of envs, devide it by the number of gpus.
+* To scale up training beyond multiple GPUs on a single machine, it is also possible to train across multiple nodes. To train across multiple nodes/machines, it is required to launch an individual process on each node.
+
+ For the master node, use the following command, where --nproc_per_node represents the number of available GPUs, and --nnodes represents the number of nodes:
+ ```bash
+ python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=0 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=localhost:5555 scripts/reinforcement_learning/rsl_rl/train.py --task= --headless --distributed
+ ```
+ Note that the port (`5555`) can be replaced with any other available port.
+ For non-master nodes, use the following command, replacing `--node_rank` with the index of each machine:
+ ```bash
+ python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=1 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=ip_of_master_machine:5555 scripts/reinforcement_learning/rsl_rl/train.py --task= --headless --distributed
+ ```
+
+## Tensorboard
+
+To view tensorboard, run:
+
+```bash
+tensorboard --logdir=logs
+```
+
+## Troubleshooting
+
+### Pylance Missing Indexing of Extensions
+
+In some VsCode versions, the indexing of part of the extensions is missing. In this case, add the path to your extension in `.vscode/settings.json` under the key `"python.analysis.extraPaths"`.
+
+**Note: Replace `` with your own IsaacLab path.**
+
+```json
+{
+ "python.languageServer": "Pylance",
+ "python.analysis.extraPaths": [
+ "${workspaceFolder}/source/rl_training",
+ "//source/isaaclab",
+ "//source/isaaclab_assets",
+ "//source/isaaclab_mimic",
+ "//source/isaaclab_rl",
+ "//source/isaaclab_tasks",
+ ]
+}
+```
+
+### Clean USD Caches
+
+Temporary USD files are generated in `/tmp/IsaacLab/usd_{date}_{time}_{random}` during simulation runs. These files can consume significant disk space and can be cleaned by:
+
+```bash
+rm -rf /tmp/IsaacLab/usd_*
+```
+
+## Acknowledgements
+
+The project uses some code from the following open-source code repositories:
+
+- [fan-ziqi/robot_lab](https://github.com/fan-ziqi/robot_lab)
diff --git a/README_HUOYI.md b/README_HUOYI.md
new file mode 100644
index 0000000..6985a9b
--- /dev/null
+++ b/README_HUOYI.md
@@ -0,0 +1,76 @@
+# 火蚁轮足机器人强化学习项目
+
+这是火蚁（Solenopsis）轮足平台当前可运行训练版本的独立发布副本。
+
+## 包含内容
+
+- Isaac Lab / RSL-RL 训练与播放脚本
+- 火蚁 Stage 1 与 Stage 2 多地形任务配置
+- 火蚁质量、惯量、电机和接触参数
+- `Solenopsis.urdf`
+- 当前 URDF 使用的轻量可视化 STL（碰撞体仍为简化几何体）
+- 评估脚本和模型对比文档
+
+为了保持仓库轻量，本仓库不包含训练日志、TensorBoard 数据、历史 checkpoint、原始高精度 CAD STL、旧 USD 备份或本地 Codex 快照。
+
+## 克隆
+
+```bash
+git clone https://github.com/weifenghuang812/huoyi_training.git
+cd huoyi_training
+```
+
+本仓库已经将火蚁模型直接包含在 `deep_robotics_model/` 中，不需要执行 `git submodule update`。
+
+## 安装
+
+先按项目原始 `README.md` 安装匹配版本的 Isaac Lab，然后在仓库根目录执行：
+
+```bash
+python -m pip install -e source/rl_training
+```
+
+## 从零训练 Stage 1
+
+```bash
+python scripts/reinforcement_learning/rsl_rl/train.py \
+ --task Rough-Deeprobotics-M20-v0 \
+ --headless
+```
+
+## 训练 Stage 2
+
+Stage 2 应从 Stage 1 checkpoint 恢复：
+
+```bash
+python scripts/reinforcement_learning/rsl_rl/train.py \
+ --task Rough-Deeprobotics-M20-Support-v0 \
+ --headless \
+ --resume \
+ --load_run /绝对路径/到/stage1运行目录 \
+ --load_checkpoint model_xxx.pt
+```
+
+## 播放
+
+```bash
+python scripts/reinforcement_learning/rsl_rl/play.py \
+ --task Rough-Deeprobotics-M20-v0 \
+ --checkpoint /绝对路径/到/model_xxx.pt
+```
+
+键盘控制时添加：
+
+```bash
+--keyboard
+```
+
+## 资产说明
+
+活动模型路径为：
+
+```text
+deep_robotics_model/M20/M20_urdf/urdf/Solenopsis.urdf
+```
+
+训练加载 URDF；碰撞体使用方块和圆柱简化，可视化使用轻量 STL。
diff --git a/VERSION b/VERSION
new file mode 100644
index 0000000..afaf360
--- /dev/null
+++ b/VERSION
@@ -0,0 +1 @@
+1.0.0
\ No newline at end of file
diff --git a/deep_robotics_model/LICENSE.txt b/deep_robotics_model/LICENSE.txt
new file mode 100644
index 0000000..cdc6c06
--- /dev/null
+++ b/deep_robotics_model/LICENSE.txt
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, DeepRoboticsLab
+
+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.
diff --git a/deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/base_link.STL b/deep_robotics_model/M20/M20_urdf/meshes_solenopsis_visual/base_link.STL
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