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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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How to deploy this code on custom model? #36

Closed Dev-Robo closed 1 year ago

gmargo11 commented 1 year ago

Hi @Dev-Robo ,

After training a custom model, it will be saved in the runs folder (https://github.com/Improbable-AI/walk-these-ways/tree/master/runs/). Note the relative location of your custom model of the train folder (for the default policy), it's gait-conditioned-agility/pretrain-v0/train. We'll denote this as $PDIR.

To play the custom model in simulation first, replace the line https://github.com/Improbable-AI/walk-these-ways/blob/master/scripts/play.py#L97 with label = "$PDIR".

To deploy on the robot, replace the line https://github.com/Improbable-AI/walk-these-ways/blob/master/go1_gym_deploy/scripts/deploy_policy.py#L73 with label = "$PDIR". Then re-run the send_to_unitree.sh script to update the files on the robot.

-Gabe