puppersim

Simulation for DJI Pupper v2 robot

Usage:

python setup.py develop

Then run puppersim/pupper_server.py

In a separate terminal, run the StanfordQuadruped run_djipupper_sim from this fork.

Keyboard controls:

• wasd: left joystick
• arrow keys: right joystick
• q: L1
• e: R1
• ijkl: d-pad
• x: X
• square: u
• triangle: t
• circle: c

Training a Gym environment

You can train the pupper using pybullet envs_v2 and this ARS fork.

pip install pybullet arspb ray puppersim
ray start --head
python puppersim/pupper_ars_train.py --policy_type=linear
python puppersim/pupper_ars_run_policy.py --expert_policy_file=data/lin_policy_plus_best_xxx.npz --json_file=data/params.json

See a video of a trained policy: https://www.youtube.com/watch?v=JzNsax4M8eg