Training Force Tolerant Guide dog Controllers

Based on code from: https://github.com/leggedrobotics/legged_gym and https://github.com/leggedrobotics/rsl_rl

Install

First, run:

pip3 install -e .

Next, run:

cd guide_dog_ppo
pip3 install -e .

Training

Run the following:

python3 legged_gym/scripts/train.py --task=guide_dog --trial_name=<any name here> --seed=<seed here> --headless

Testing

python3 legged_gym/scripts/play.py --task=guide_dog

Pybullet Validation

cd pybullet_val
python3 -m scripts.play_bullet.py