Some useful commands:

To start a training:

python scripts/rsl_rl/train.py --task Template-Superq-Alore-v0 --num_envs 4096 --headless

To start a joint teleoperation:

python scripts/windows_joint_teleoperation.py --task Joint-Teleoperation --num_envs 1

To start a zero_agent:

python3 ./scripts/zero_agent.py --task Template-Superq-Alore-v0 --num_envs 20

Set of the Project

Everything in README(old).md is deployed, except the Omniverse setup. (The IDE setup may not be 100% successful though, because it seems that isaacsim can be detected by VScode, but isaaclab cannot)

Deployment of low-level controller

In your terminal, run

python3 ./scripts/zero_agent.py --task Template-Superq-Alore-v0 --num_envs 20

Then, you should observe the robot moving forward with a constant speed.

You can set up the attributes in "./scripts/zero_agent.py".

Run the joint-teleoperation

Use the keyboard teleoperation script to command Spot arm joints (and optionally base motion).

# If Isaac Lab is available in your current Python environment:
python scripts/windows_joint_teleoperation.py --task Joint-Teleoperation --num_envs 1

# If Isaac Lab is not in your active environment, use Isaac Lab's launcher instead:
# <FULL_PATH_TO_isaaclab.bat> -p scripts/joint_teleoperation.py --task Template-Superq-Alore-v0 --num_envs 1

Keyboard controls

• 1..7: select arm joint index
• a / d: increase/decrease selected joint target (arm mode)
• 1a, 1d, ... 7a, 7d: compact joint select + move command
• b: toggle base motion mode on/off
• w / a / s / d (in motion mode): move base (+vx, +vy, -vx, -vy)
• r: reset arm targets to initial values
• p: print current arm joint targets
• q: quit

Useful options

• --step_size 0.05: joint increment in radians (default)
• --step_size_deg 2.0: joint increment in degrees (overrides --step_size)
• --motion_speed 0.2: base speed used by WASD in motion mode
• --base_lin_vel VX VY WZ: fixed base velocity command
• --base_pose PITCH HEIGHT: fixed base pose command
• --init_from_zero: initialize all 7 arm joints from zero

Example with custom step and base speed:

python scripts/joint_teleoperation.py \
	--task Template-Superq-Alore-v0 \
	--num_envs 1 \
	--step_size_deg 3.0 \
	--motion_speed 0.3

Notes:

• This script is intended for keyboard input from a Windows terminal.
• The action vector keeps non-arm components fixed while updating Spot arm targets.