For more details about the POGO system itself, please see this repo
raisimgym
Clone this repo into your raisim_ws (or the same directory where your other raisim projects are)
- Compile raisimgym:
The
CMAKE_PREFIX_PATHarg may vary
python setup develop --CMAKE_PREFIX_PATH ~/raisim_ws/raisimLib/raisim/linux- run runner.py of the task (for anymal example):
python raisimGymTorch/env/envs/cs672_pogo_example/runner.py- Compile raisimgym (see Run above)
- run tester.py of the task with policy (for anymal example):
python raisimGymTorch/env/envs/cs672_pogo_example/tester.py --weight raisimGymTorch/data/pogo_example/XXX/full_YYYY.pt- run runner.py of the task with policy (for anymal example):
python raisimGymTorch/env/envs/cs672_pogo_example/runner.py --mode retrain --weight raisimGymTorch/data/pogo_example/XXX/full_YYYY.pt- Compile raisimgym with debug symbols:
python setup develop --Debug
This compiles <YOUR_APP_NAME>_debug_app
- Run it with Valgrind. (Clion is strongly recommended)