Adding new policy.

2024-10-09 22:23:15 +00:00 · 2024-10-09 22:23:15 +00:00 · 15924315eb
parent 3c2b19f955
commit 15924315eb
6 changed files with 328 additions and 67 deletions
--- a/Go2Py/assets/checkpoints/SoloParkour/dof_vel_3_10-00-05-00.pt
+++ b/Go2Py/assets/checkpoints/SoloParkour/dof_vel_3_10-00-05-00.pt
--- a/Go2Py/assets/checkpoints/SoloParkour/go2_flat.pt
+++ b/Go2Py/assets/checkpoints/SoloParkour/go2_flat.pt
--- a/Go2Py/assets/checkpoints/SoloParkour/trainparamsconfigmax_epochs1500_taskenvlearnlimitsfoot_contact_force_rate60_soft_07-20-22-43.pt
+++ b/Go2Py/assets/checkpoints/SoloParkour/trainparamsconfigmax_epochs1500_taskenvlearnlimitsfoot_contact_force_rate60_soft_07-20-22-43.pt
--- a/Go2Py/control/cat.py
+++ b/Go2Py/control/cat.py
@ -275,6 +275,7 @@ class CaTAgent:
                self.commands * np.array([2.0, 2.0, 0.25]),
                self.gravity_vector[:, 0],
                self.dof_pos * 1.0,
+                #((self.dof_pos - self.prev_dof_pos) / self.dt) * 0.05,
                self.dof_vel * 0.05,
                self.last_actions[0]
            ),
--- a/examples/05-walk-these-ways-RL-controller.ipynb
+++ b/examples/05-walk-these-ways-RL-controller.ipynb
--- a/examples/06-CaT-RL-controller.ipynb
+++ b/examples/06-CaT-RL-controller.ipynb