update

Author: priest-yang

.gitignore

@@ -3,6 +3,7 @@ __pycache__/
 *.py[cod]
 *$py.class
 
+*.pt
 # C extensions
 *.so
 logs/

README.md

@@ -1,8 +1 @@
-dr_gym
-
-numpy=1.23.5
-torch=1.10.0+cu113
-
-
-urdf 小腿模型
-文档说明
+# Deep Tracking Control with Lite3

legged_gym/envs/base/legged_robot.py

@@ -1331,7 +1331,7 @@ def _draw_debug_vis(self):
         self.gym.clear_lines(self.viewer)
 
         hip_sphere_geom = gymutil.WireframeSphereGeometry(radius=0.05, color=(1, 1, 0))
-        base_sphere_geom = gymutil.WireframeSphereGeometry(radius=0.1, color=(1, 0, 0))
+        base_sphere_geom = gymutil.WireframeSphereGeometry(radius=0.1, color=(0, 0, 1))
         foothold_center_sphere_geom= gymutil.WireframeSphereGeometry(radius=0.05, color=(0, 1, 0))
         foothold_range_sphere_geom = gymutil.WireframeSphereGeometry(radius=0.03, color=(1, 0, 0))
         sphere_geom = gymutil.WireframeSphereGeometry(0.03, 4, 4, None, color=(0, 1, 0))

legged_gym/envs/base/legged_robot.zip

@@ -1,5 +1,7 @@
 import sys
-# sys.path.append("/home/ysc/dr_gym/")
+import os
+cur_path = os.getcwd()
+sys.path.append(os.path.join(cur_path, "../"))
 
 from legged_gym.envs import *
 from legged_gym.utils import task_registry

legged_gym/envs/lite3/lite3_rough_config.zip

@@ -4,7 +4,9 @@
 import torch
 import numpy as np
 import sys
-sys.path.append("/home/ysc/dr_gym/rsl_rl")
+
+cur_path = os.getcwd()
+sys.path.append(os.path.join(cur_path, "../rsl_rl"))
 
 from rsl_rl.env import VecEnv
 from rsl_rl.runners import OnPolicyRunner