save walking setup

kscalelabs · Jan 5, 2025 · 0009c00 · 0009c00
1 parent 4273ffa
commit 0009c00
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Showing 5 changed files with 85 additions and 79 deletions.
diff --git a/policy.kinfer b/policy.kinfer
diff --git a/policy_1.pt b/policy_1.pt
diff --git a/sim/envs/humanoids/zbot2_env.py b/sim/envs/humanoids/zbot2_env.py
@@ -57,7 +57,7 @@ def __init__(self, cfg, sim_params, physics_engine, sim_device, headless):
 
         self.legs_joints = {}
         for name, joint in Robot.legs.left.joints_motors():
-            print(name)
+            # print(name)
             joint_handle = self.gym.find_actor_dof_handle(env_handle, actor_handle, joint)
             self.legs_joints["left_" + name] = joint_handle
 

diff --git a/sim/resources/zbot2/joints.py b/sim/resources/zbot2/joints.py
@@ -139,6 +139,8 @@ def default_standing(cls) -> Dict[str, float]:
             cls.legs.right.ankle_pitch: 0.0,
         }
 
+    # CONTRACT - this should be ordered according to how the policy is trained.
+    # E.g. the first entry should be the name of the first joint in the policy.
     @classmethod
     def joint_names(cls) -> List[str]:
         return list(cls.default_standing().keys())