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14 Commits

Author SHA1 Message Date
Ziwen Zhuang 789e83c40b fix typos and rename all `resample_time` to `resampling_time` 
* supporting numpy 1.24 and pytorch 2.4.1
* add parameters for go2 distillation using single GPU (a.k.a `multi_process_ = False`)
 2024-10-10 22:54:54 +08:00
Ziwen Zhuang 637080edaf [fix] typo and bugs in loading demonstration for Dagger 
* Fix the problem of accessing traj_data before refreshing trajectory handlers
* Also, fix motor_strength when not using LeggedRobotNoisyMixin
* Also, fix barrier_track typo
 2024-09-07 00:16:03 +08:00
Ziwen Zhuang 1ffd6d7c05 [upgrade] unified interface and a easier example 
* embed all function and new concepts into legged_robot for base implementation
* add namedarraytuple concept borrowed from astooke/rlpyt
* use namedarraytuple in rollout storage and summarize a minibatch object
* add `rollout_file` concept to store rollout data in files and demonstrations
* add state estimator module/algo implementation
* complete rewrite `play.py` example
* rename `actions_scaled_torque_clipped` to `actions_scaled_clipped`
* add example onboard codes for deploying on Go2.
 2024-07-19 16:19:40 +08:00
Ziwen Zhuang 96317ac12f
Merge pull request #15 from fan-ziqi/fan-ziqi-patch-docs 
docs: fix `legged_gym` in train document
 2023-12-02 23:04:36 +08:00
Fan Ziqi f12da640ec docs: fix `legged_gym` in train document 2023-12-02 22:44:03 +08:00
Ziwen Zhuang 7addc38702
[fix] duplicated _create_envs() process 
* This results in an error report by isaacgym
"[Error] [carb.gym.plugin] Incompatible size of DOF force tensor in function GymSetDofActuationForceTensor"
 2023-11-20 09:08:59 +08:00
Ziwen Zhuang 1ab4639f15 [update] env and training config for go1 2023-11-14 19:12:52 +08:00
Ziwen Zhuang f771497315 [adding] deploy code and instructions 
* latest environments will follow
 2023-11-08 03:29:28 +08:00
Ziwen Zhuang c0d55bbb56
Update README.md 2023-09-14 12:38:50 +08:00
Ziwen Zhuang d6413cd831
Update README.md 2023-09-13 22:37:52 +08:00
Ziwen Zhuang 9579b8cfa7 updating tutorial readme 2023-09-12 05:08:53 +08:00
Zipeng Fu 72aac5e2f2
add teaser 2023-09-11 00:21:06 -07:00
Zipeng Fu 166e16dffe
Update README.md 2023-09-11 00:19:20 -07:00
Ziwen Zhuang daf0e0aee5 init opensource commit 2023-09-10 09:44:56 +08:00