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fix small bugs on getup_config and save videos on play.py, update git…
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Ke Wang committed Apr 24, 2024
1 parent c778db9 commit 90f4b48
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Showing 3 changed files with 5 additions and 3 deletions.
2 changes: 2 additions & 0 deletions .gitignore
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Expand Up @@ -24,3 +24,5 @@ out*/

# Training artifacts
wandb/
runs/
stompy/
4 changes: 2 additions & 2 deletions sim/humanoid_gym/envs/getup_config.py
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Expand Up @@ -41,8 +41,8 @@ class asset(LeggedRobotCfg.asset): # noqa: N801
name = "stompy"
foot_name = "_leg_1_x4_1_outer_1" # "foot"
knee_name = "belt_knee" # "knee"
terminate_after_contacts_on: list[str] = [] # "link_torso_1_top_torso_1"]
penalize_contacts_on: list[str] = []
terminate_after_contacts_on = [] # "link_torso_1_top_torso_1"]
penalize_contacts_on = []
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
flip_visual_attachments = False
replace_cylinder_with_capsule = False
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2 changes: 1 addition & 1 deletion sim/humanoid_gym/play.py
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Expand Up @@ -71,7 +71,7 @@ def play(args: argparse.Namespace) -> None:
experiment_dir = video_dir / train_cfg.runner.experiment_name
experiment_dir.mkdir(parents=True, exist_ok=True)

dir = os.path.join(experiment_dir, datetime.now().strftime("%b%d_%H-%M-%S") + args.run_name + ".mp4")
dir = os.path.join(experiment_dir, datetime.now().strftime("%b%d_%H-%M-%S") + str(args.run_name) + ".mp4")
if not os.path.exists(video_dir):
os.mkdir(video_dir)
if not os.path.exists(experiment_dir):
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