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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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When we change some terrain in this situation why robots are start at sky? #50

Open desktop-ls opened 9 months ago

desktop-ls commented 9 months ago

Hi.

I have some problem.

when we use simulation in legged_gym(original learning in minuites code), on downstairs or upstairs, robots initial position is Almost stuck. i mean like below 1

But in this walk-these-ways code express like below. I mean robots start in the high position ( same height as plane. so it looks like in the air ) 2

Which part should i change? I really want to know it thank you.

OlalekanIsola commented 4 months ago

Could you please point me to where in the code you added these terrains. I am trying to add more terrains to the flat which came by default. Many thanks

OlalekanIsola commented 4 months ago

I solved it by modifying 'terrain_proportions' in the 'go1_config.py' file. Note that the sum of the values in the list should be equal to 1. Feel free to adjust each terrain to determine how much you want it to appear.

Regarding the floating robot issue, you may want to check your 'pos'. Try using the following for 'go1': [0.0, 0.0, 0.34]. If you have a disjointed urdf, try changing "flip_visual_attachments" to either True or False