proper gait

kscalelabs · Dec 15, 2024 · 66610e1 · 66610e1
1 parent 5addc0a
commit 66610e1
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Showing 3 changed files with 13 additions and 2 deletions.
diff --git a/examples/gpr_walking.kinfer b/examples/gpr_walking.kinfer
diff --git a/sim/requirements.txt b/sim/requirements.txt
@@ -11,5 +11,5 @@ wandb
 tensorboard==2.14.0
 onnxscript
 mujoco==2.3.6
-git+https://github.com/kscalelabs/kinfer.git@b374295c3e4dab#egg=kinfer
+kinfer==0.0.5
 opencv-python
diff --git a/sim/resources/gpr/joints.py b/sim/resources/gpr/joints.py
@@ -107,7 +107,18 @@ def isaac_to_mujoco_signs(cls) -> Dict[str, int]:
 
     @classmethod
     def default_positions(cls) -> Dict[str, float]:
-        return {}
+        return {
+            Robot.legs.left.hip_pitch: 0.0,
+            Robot.legs.left.hip_yaw: 0.0,
+            Robot.legs.left.hip_roll: 0.0,
+            Robot.legs.left.knee_pitch: 0.0,
+            Robot.legs.left.ankle_pitch: 0.0,
+            Robot.legs.right.hip_pitch: 0.0,
+            Robot.legs.right.hip_yaw: 0.0,
+            Robot.legs.right.hip_roll: 0.0,
+            Robot.legs.right.knee_pitch: 0.0,
+            Robot.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 angle of the first joint in the policy.