【5】Humanoid Gym初学之 --- Issac_GYM加载URDF文件及训练模型
1.【4】Humanoid Gym初学之 ---- 关于仿真Issac-GYM出现Tensor出现Nan报错的解决方案及分析过程2.【2】Humanoid Gym初学之---将URDF模型文件导入Issac_Gym
3.【5】Humanoid Gym初学之 --- Issac_GYM加载URDF文件及训练模型
4.ISSAC GYM解决RuntimeError: nvrtc: error: invalid value for --gpu-architecture (-arch)的问题5.【Issac Gym】所有出现“Conda上有Pytorch但import显示no modules”问题的看我这篇!!!6.humanoid-gym 出现"no mudule named 'humanoid'"之解决方法7.Issac Gym出现error: subprocess-exited-with-error报错1 下载相关文件
进入github中下载相关的文件
https://github.com/leggedrobotics/legged_gym
2 加载自己绘制的URTL文件
这个链接用来下载宇树的Go2模型机器人
https://github.com/unitreerobotics/unitree_rl_gym/tree/main
下载好了urdf文件,将其中resources/robots/go2文件复制到legged_gym/resources/robots/目录下
这样就把机器人模型文件加载好了
在下面这个文件修改:
from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
from legged_gym.envs.a1.a1_config import A1RoughCfg, A1RoughCfgPPO
from .base.legged_robot import LeggedRobot
from .anymal_c.anymal import Anymal
from .anymal_c.mixed_terrains.anymal_c_rough_config import AnymalCRoughCfg, AnymalCRoughCfgPPO
from .anymal_c.flat.anymal_c_flat_config import AnymalCFlatCfg, AnymalCFlatCfgPPO
from .anymal_b.anymal_b_config import AnymalBRoughCfg, AnymalBRoughCfgPPO
from .cassie.cassie import Cassie
from .cassie.cassie_config import CassieRoughCfg, CassieRoughCfgPPO
from .a1.a1_config import A1RoughCfg, A1RoughCfgPPO
from .go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO # 添加的
import os
from legged_gym.utils.task_registry import task_registry
task_registry.register( "anymal_c_rough", Anymal, AnymalCRoughCfg(), AnymalCRoughCfgPPO() )
task_registry.register( "anymal_c_flat", Anymal, AnymalCFlatCfg(), AnymalCFlatCfgPPO() )
task_registry.register( "anymal_b", Anymal, AnymalBRoughCfg(), AnymalBRoughCfgPPO() )
task_registry.register( "a1", LeggedRobot, A1RoughCfg(), A1RoughCfgPPO() )
task_registry.register( "cassie", Cassie, CassieRoughCfg(), CassieRoughCfgPPO() )
task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO() ) # 添加的
这样就可以运行代码训练机器人了
本文作者:myleaf
本文链接:https://www.cnblogs.com/myleaf/p/18458924
版权声明:本作品采用知识共享署名-非商业性使用-禁止演绎 2.5 中国大陆许可协议进行许可。
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