Quadruped command tracking controller (flat terrain)

Prepare

1. Install RAISIM link
2. Move to YOUR_PATH/raisimLib/raisimGymTorch/.
3. Remove everything in YOUR_PATH/raisimLib/raisimGymTorch/.
4. Clone the repository in YOUR_PATH/raisimLib/raisimGymTorch/.
5. Build environment
6. Train / Evaluate

cf)

• Trained model will be saved in YOUR_PATH/raisimLib/raisimGymTorch/data/command_tracking_flat/.
• Command tracking plot will be saved in YOUR_PATH/raisimLib/raisimGymTorch/command_tracking_plot/command_tracking_flat/.

Build environment

python setup.py develop

Train

python raisimGymTorch/env/envs/command_tracking_flat/runner.py

Test

python raisimGymTorch/env/envs/command_tracking_flat/tester.py -w /home/awesomericky/raisim/raisimLib/raisimGymTorch/data/command_tracking_flat/2021-07-15-21-15-21/full_16200.pt

Trained weights

Available in data.zip

Command tracking plot