unitree A1 sim2sim for test reinforcement learning by webots

perpare envirment for webots and pytorch

1. Download webots R2023b form WebotsR2023

2. Download anaconda from anaconda

3. Create a new conda envirment: conda create -n env_name python=3.8

4. Add webots address to python install path: Create a file named as webots.pth at python(conda) install path (eg: my conda pthon address is: C:\Users\12466.conda\envs\DeepReinforce). Add the webots head path to the webots.pth: C:\Program Files\Webots\lib\controller\python C:\Program Files\Webots\msys64\mingw64\bin\ C:\Program Files\Webots\msys64\mingw64\bin\cpp

5. install conda and pytorch in conda env

Run the sim code

1. start your conda envirment: conda activate env_name
2. open webots world at : project+address/worlds/unitree_a1_pytorch_simTosim.wbt
3. python run the code by python RL_Contorller.py