GO2 walk

Run with simulation

At first, launch ppo_ros with simulation mode.

ros2 launch ppo_ros ppo_ros.launch.xml use_sim_time:=True use_cuda:=True simulation:=False

use_cuda option should be configured based on your environment.

Second, launch genesis_ros

uv run ppo_eval -e go2_walking -d gpu --ckpt 100 -i ros

Wait...

Genesis initialization takes about 20~30 seconds in my environment.

Please wait patiently.

Walk!