Comments (3)
Robokan
commented on June 3, 2024
Found it. Line 73 in go1_gym_deploy/scripts/deploy_policy.py
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Qianzhong-Chen
commented on June 3, 2024
Hi, could you please be so kind to tell me how to make the self-trained policy (a .pt file) be available to be deployed with code of this repo? If my guess is correct, deploy_policy.py mainly uses the two .jit files (adaptation_module_latest.jit and body_latest.jit).
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Robokan
commented on June 3, 2024
I haven't done it yet but as far as I can tell all you do is
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train a new network. Then the result will be in the "runs" directory. Then
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edit: deploy_policy.py to use your run rather than the pretrained one.
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follow the instructions to deploy to the go1. One of the scrips contains rsync I believe it will copy all the runs over to the go1 (including yours)
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Related Issues (20)
- Is there a specific reason not to run controller on pi instead of Nano? HOT 1
- Output test.py HOT 1
- How to get joint torque values from StateEstimator? Maybe tau_est? HOT 6
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- How to create data to retrain the actuator net? HOT 1
- Is Kp = 20 too soft? HOT 11
- Velocity estimation HOT 4
- decimation of 4 seems to create some instability have you been successful with lower values like 2? HOT 9
- Can't find docker image after sudo ../installer/install_deployment_code.sh HOT 1
- When deployed, Go1 still moves despite neutral commands are given HOT 1
- When recording data using L2 button, generated data does not contain "tau_est" HOT 4
- Code not running on Untree A1 robot HOT 9
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- ./lcm_position: error while loading shared libraries: liblcm.so.1: cannot open shared object file: No such file or directory HOT 4
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