Code to train trotting and pacing policy for Laikago, as described in the paper: Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion.
Need to install raisim first: https://github.com/ZhaomingXie/raisimLib/tree/juggling.
Good behavior should emerge within 30 minutes of training. Thanks to some code optimization, reference to some design choices from IsaacGym, and the fast simulation speed of raisim, training is much faster than what is originally reported in the paper.