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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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Deploy on go2 edu #64

Closed Simonforyou closed 2 weeks ago

Simonforyou commented 5 months ago

I want to deploy this algorithm on go2 edu, but I found that the sdk version has been updated. Is lcm not supported in the new version of sdk?

gmargo11 commented 5 months ago

Hi @Simonforyou

Yes, you'll need to modify and rebuild the lcm_position.cpp file to use the new SDK version. I think the process should be similar to adapting the code to A1: https://github.com/Improbable-AI/walk-these-ways/issues/45#issuecomment-1680176221

Unfortunately I don't have a Go2 yet so I can't add support myself. If you or any other users succeed, definitely submit a pull request!

Best Gabe

zeonsunlightyu commented 2 months ago

Hi,guys,here is my solution for go2edu sim2real ,hope it can helps people who still struggling

https://github.com/zeonsunlightyu/LocomotionWithNP3O/tree/master

I will post a video link to readme later on

(the quality of code is pretty bad at the moment, but it do works, it will improve over time)

gmargo11 commented 2 weeks ago

Cool, nice work @zeonsunlightyu and thanks for sharing it here!

I also noticed this repository porting walk-these-ways to Go2, which may be relevant to folks browsing this issue: https://github.com/Teddy-Liao/walk-these-ways-go2 (the work is done independently by others, I'm not affiliated with this project)