add task

legged_gym/scripts/play.py

@@ -1,7 +1,7 @@
-import os
-unitree_rl_gym_path = os.path.abspath(__file__ + "../../../../")
 import sys
-sys.path.append(unitree_rl_gym_path)
+from legged_gym import LEGGED_GYM_ROOT_DIR
+import os
+import sys
 from legged_gym import LEGGED_GYM_ROOT_DIR
 
 import isaacgym

legged_gym/scripts/train.py

@@ -1,9 +1,7 @@
 import os
-unitree_rl_gym_path = os.path.abspath(__file__ + "../../../../")
 import numpy as np
 from datetime import datetime
 import sys
-sys.path.append(unitree_rl_gym_path)
 
 import isaacgym
 from legged_gym.envs import *

legged_gym/utils/task_registry.py

@@ -4,7 +4,6 @@ from typing import Tuple
 import torch
 import numpy as np
 import sys
-sys.path.append("/home/unitree/unitree_rl_gym/rsl_rl")
 
 from rsl_rl.env import VecEnv
 from rsl_rl.runners import OnPolicyRunner

setup.py

@@ -0,0 +1,11 @@
+from setuptools import find_packages
+from distutils.core import setup
+
+setup(name='unitree_rl_gym',
+      version='1.0.0',
+      author='Unitree Robotics',
+      license="BSD-3-Clause",
+      packages=find_packages(),
+      author_email='support@unitree.com',
+      description='Template RL environments for Unitree Robots',
+      install_requires=['isaacgym', 'rsl-rl', 'matplotlib', 'numpy==1.20', 'tensorboard'])