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(1) reduce gravity randomization range in train/test scripts to match paper. (2) remove dead code from Dockerfile

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This commit is contained in:
Gabriel Margolis
2023-02-07 11:43:21 -05:00
parent 16b3359864
commit 728058d243
3 changed files with 18 additions and 18 deletions
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32
go1_gym_deploy/docker/Dockerfile
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@@ -79,27 +79,27 @@ RUN apt-get install -y vim
#RUN pip3 install pandas #RUN pip3 install pandas
# ROS # ROS
ENV ROS_DISTRO melodic # ENV ROS_DISTRO melodic
RUN apt-get install -y gnupg RUN apt-get install -y gnupg
COPY install_scripts/install_ros.sh /tmp/install_ros.sh # COPY install_scripts/install_ros.sh /tmp/install_ros.sh
RUN chmod +x /tmp/install_ros.sh # RUN chmod +x /tmp/install_ros.sh
RUN /tmp/install_ros.sh # RUN /tmp/install_ros.sh
# bootstrap rosdep # # bootstrap rosdep
RUN rosdep init \ # RUN rosdep init \
&& rosdep update # && rosdep update
# create catkin workspace # # create catkin workspace
ENV CATKIN_WS=/root/catkin_ws # ENV CATKIN_WS=/root/catkin_ws
RUN bash /opt/ros/melodic/setup.bash # RUN bash /opt/ros/melodic/setup.bash
RUN mkdir -p $CATKIN_WS/src # RUN mkdir -p $CATKIN_WS/src
WORKDIR ${CATKIN_WS} # WORKDIR ${CATKIN_WS}
RUN catkin init # RUN catkin init
RUN catkin config --extend /opt/ros/$ROS_DISTRO \ # RUN catkin config --extend /opt/ros/$ROS_DISTRO \
--cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False # --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
WORKDIR $CATKIN_WS/src # WORKDIR $CATKIN_WS/src
RUN apt-get update && apt-get install -y freeglut3-dev libudev-dev RUN apt-get update && apt-get install -y freeglut3-dev libudev-dev

2
scripts/test.py
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@@ -38,7 +38,7 @@ def run_env(render=False, headless=False):
Cfg.env.priv_observe_base_mass = False Cfg.env.priv_observe_base_mass = False
Cfg.domain_rand.added_mass_range = [-1.0, 3.0] Cfg.domain_rand.added_mass_range = [-1.0, 3.0]
Cfg.domain_rand.randomize_gravity = True Cfg.domain_rand.randomize_gravity = True
Cfg.domain_rand.gravity_range = [-2.0, 2.0] Cfg.domain_rand.gravity_range = [-1.0, 1.0]
Cfg.domain_rand.gravity_rand_interval_s = 2.0 Cfg.domain_rand.gravity_rand_interval_s = 2.0
Cfg.domain_rand.gravity_impulse_duration = 0.5 Cfg.domain_rand.gravity_impulse_duration = 0.5
Cfg.env.priv_observe_gravity = True Cfg.env.priv_observe_gravity = True

2
scripts/train.py
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@@ -46,7 +46,7 @@ def train_go1(headless=True):
Cfg.env.priv_observe_base_mass = False Cfg.env.priv_observe_base_mass = False
Cfg.domain_rand.added_mass_range = [-1.0, 3.0] Cfg.domain_rand.added_mass_range = [-1.0, 3.0]
Cfg.domain_rand.randomize_gravity = True Cfg.domain_rand.randomize_gravity = True
Cfg.domain_rand.gravity_range = [-2.0, 2.0] Cfg.domain_rand.gravity_range = [-1.0, 1.0]
Cfg.domain_rand.gravity_rand_interval_s = 8.0 Cfg.domain_rand.gravity_rand_interval_s = 8.0
Cfg.domain_rand.gravity_impulse_duration = 0.99 Cfg.domain_rand.gravity_impulse_duration = 0.99
Cfg.env.priv_observe_gravity = False Cfg.env.priv_observe_gravity = False