Description
Hi, thank you for your contributions.
These days, I'm trying to deploy a policy in MuJoCo that was trained using ASAP. Since I use the G1 robot, I have encountered some problems. Is it enough to modify the following scripts to adapt the policy for the G1 robot (as I already have g1_29dof_anneal_23dof.urdf, g1_29dof_anneal_23dof.xml) ?
1.neural_wbc_env_cfg_h1.py：https://github.com/NVlabs/HOVER/blob/main/neural_wbc/isaac_lab_wrapper/neural_wbc/isaac_lab_wrapper/neural_wbc_env_cfg_h1.py
2.scene.xml：
https://github.com/NVlabs/HOVER/blob/main/neural_wbc/data/data/mujoco/models/scene.xml
3.neural_wbc_env_cfg_h1.py：https://github.com/NVlabs/HOVER/blob/main/neural_wbc/isaac_lab_wrapper/neural_wbc/isaac_lab_wrapper/neural_wbc_env_cfg_h1.py
4.mujoco_viewer_player.py：
https://github.com/NVlabs/HOVER/blob/main/neural_wbc/inference_env/scripts/mujoco_viewer_player.py
Angthing else I should notice ? Thank you!