📄️ Simulation with Isaac Sim
Just play the checkpoint directly using play.py or playwithinfo.py, this does the job.
📄️ Simulation with Mujoco
We have been working on a more unified simulation runner for GBC rather than running deployment directly provided by Unitree RL Gym. This part of the code will be uploaded once we are done (mapping joints and controllers from isaac lab configuration to mujoco automatically is a huge pile of work, and since I am currently busy applying for PhD, I have little time to do this now).
📄️ Deploy to Real Robots
We currently have no valid humanoid robots to evaluate the performances other than sim. If you can provide us with real robots testing oppotunities, please let us know!