stepit zoo

Pre-trained policies for stepit.

Quick Start: Sim2Sim

Dependencies:

• stepit
• unitree_mujoco

# Shell 1: start the simulation with unitree_mujoco
cd unitree_mujoco/simulate
./build/unitree_mujoco -r go2 -s scene.xml

# Shell 2: run the policy with stepit (ensure stepit is already built)
cd stepit_ws && ./scripts/setup.sh --zoo
./scripts/run.sh ./zoo/unitree_go2_robot_lab_rough/sim.conf.sh

Deployment on Real Robots

# Run the policy with stepit (ensure stepit is already built)
cd stepit_ws && ./scripts/setup.sh --zoo
./scripts/run.sh ./zoo/unitree_go2_robot_lab_rough/real.conf.sh