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Improbable-AI / walk-these-ways

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.
https://gmargo11.github.io/walk-these-ways/
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Output test.py #33

Closed lucasbrodo closed 1 year ago

lucasbrodo commented 1 year ago

Hi @gmargo11, What kind of behavior should we observe when running test.py ? The robots don't walk in IsaacGym when running the script. They seem to fall on their hind legs.

isaac_gym terminal_output

Thank you very much for your feedback and congratulations on your work.

gmargo11 commented 1 year ago

Hi @lucasbrodo ,

What you describe is the intended behavior of test.py. This line: https://github.com/Improbable-AI/walk-these-ways/blob/master/scripts/test.py#L199 sets the actions to zero which corresponds to the pose you're describing. test.py just verifies that the simulator runs without error.

To make the robot walk using the learned gaits, you can run play.py which sets the actions by evaluating the policy: https://github.com/Improbable-AI/walk-these-ways/blob/master/scripts/play.py#L124

-Gabe