cyy/go2_rl_gym
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v1.1.1-rc2; add README

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wty-yy
2026-01-27 21:36:44 +08:00
parent 064d0c90ea
commit 93c815b2d9
10 changed files with 468 additions and 126 deletions
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3
deploy/deploy_real/config_go2.py
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@@ -1,4 +1,5 @@
from legged_gym import LEGGED_GYM_ROOT_DIR
from pathlib import Path
LEGGED_GYM_ROOT_DIR = str(Path(__file__).parents[2])
import numpy as np
import yaml

2
deploy/deploy_real/configs/go2.yaml
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@@ -6,7 +6,7 @@ imu_type: "torso" # "torso" or "pelvis"
lowcmd_topic: "rt/lowcmd"
lowstate_topic: "rt/lowstate"
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt"
joint2motor_idx: [3,4,5,0,1,2,9,10,11,6,7,8]

16
deploy/deploy_real/deploy_real_go2.py
View File

@@ -1,4 +1,5 @@
from legged_gym import LEGGED_GYM_ROOT_DIR
from pathlib import Path
LEGGED_GYM_ROOT_DIR = str(Path(__file__).parents[2])
import numpy as np
import time
import torch
@@ -85,11 +86,13 @@ class Controller:
def zero_torque_state(self):
print("Enter zero torque state.")
print("Waiting for the start signal...")
print("Waiting for the *start* signal...")
while self.remote_controller.button[KeyMap.start] != 1:
create_zero_cmd(self.low_cmd)
self.send_cmd(self.low_cmd)
time.sleep(self.config.control_dt)
print("Start signal received.")
print("Press *select* button to exit.")
def move_to_default_pos(self):
@@ -121,7 +124,7 @@ class Controller:
def default_pos_state(self):
print("Enter default pos state.")
print("Waiting for the Button A signal...")
print("Waiting for the *Button A* signal...")
while self.remote_controller.button[KeyMap.A] != 1:
for i in range(12):
motor_idx = self.config.joint2motor_idx[i]
@@ -162,7 +165,12 @@ class Controller:
self.obs[33:45] = self.action
obs_tensor = torch.from_numpy(self.obs).unsqueeze(0)
self.action = self.policy(obs_tensor).detach().numpy().squeeze()
results = self.policy(obs_tensor)
if isinstance(results, tuple):
self.action = results[0]
else:
self.action = results
self.action = self.action.detach().numpy().squeeze()
target_dof_pos = self.config.default_angles + self.action * self.config.action_scale
# target_dof_pos = self.config.default_angles