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name: walk-these-ways description: "Guide static and backend-aware Walk These Ways Go1 simulation configuration, PPO/PPO-CSE policy workflows, actuator-network data handling, and safe Unitree Go1 deployment preparation." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Walk These Ways

Use this repo skill when a task names Improbable-AI/walk-these-ways or asks about its Go1 locomotion environment, PPO/PPO-CSE/RMA policies, actuator networks, checkpoints, or Unitree Go1 deployment boundary.

This is a self-contained operating context. Use the bundled references and read-only helpers; do not require the original checkout to remain available.

First route and safety gate

1. Read repo provenance when version freshness, package identity, or source evidence matters.
2. Run check_installation.py for a read-only package/import/backend report. A PyTorch CUDA result is not an Isaac Gym result.
3. Select exactly one primary route:
   • simulation-environment for Go1 Cfg, config_go1, observations, history, terrain, rewards, domain randomization, assets, and simulator prerequisites.
   • training-and-policy for PPO or PPO-CSE/RMA dimensions, rollout/history contracts, checkpoints, export, and bounded policy evaluation.
   • actuator-network for deployment-log validation, six-feature sample extraction, CPU model checks, and explicitly bounded actuator-network training planning.
   • robot-deployment for Go1 policy artifact review, LCM/RC/controller contracts, safety, network/container prerequisites, and deployment planning without actuation.
4. For a cross-route question, start here, preserve the route boundaries, and read the nearest references from each involved sub-skill before proposing a change.

Verified scope and hard limits

The verified construction scope is static/API/configuration guidance, policy shape and artifact checks, actuator data/model checks, and deployment planning. The following are not verified on the construction host:

• Isaac Gym Preview 4 simulator construction, stepping, native PPO training, or native playback. The simulator is a separately installed NVIDIA dependency; it is not replaced by a CPU import or a CUDA-Torch probe.
• Unitree Go1 closed-loop actuation, SDK startup, LCM publication, calibration, network mutation, Docker launch, SSH/rsync transfer, or motor commands.

Keep these as BLOCKED_REQUIRED_BACKEND or an equivalent explicit limitation when reporting a result. Never silently downgrade a missing required backend to pass. Never execute a robot, controller, transfer, privileged, or network mutation command from this skill.

Shared operating contracts

• The package snapshot is go1_gym==1.0.0 from the recorded source commit; see provenance for the exact revision and relative evidence paths.
• The simple Go1 environment contract is 42 actor observations, 18 declared privileged observations, 15 history frames (flattened width 630), and 12 actions. The checked-in PPO-CSE training recipe is a separate 70-observation, 2-privileged-value, 30-frame contract with flattened history width 2100 and 12 actions. Do not confuse frame count with flattened width.
• A successful static helper, package import, or CPU TorchScript/model-shape check proves only that narrow contract. It does not prove simulator physics, learned locomotion quality, sim-to-real behavior, or safe robot actuation.
• Treat pickle checkpoints and model files as caller-owned artifacts. Do not unpickle untrusted parameters.pkl; validate explicit paths and shapes first.

Installation and minimal check

Install the public package in an isolated caller-owned environment from a trusted checkout or package source, then run:

python -m pip install -e .
# from this skill directory
python scripts/check_installation.py --json

The helper is read-only and only reports package/module presence. It does not install Isaac Gym or prove simulator or robot readiness.

Cross-cutting troubleshooting

Use troubleshooting.md for installation, optional dependencies, path/config validation, backend gates, and cross-route failures. The sub-skill troubleshooting references own workflow-specific failures.

Safe construction boundary

Bundled scripts are diagnostics, validators, or deterministic offline data helpers. They accept explicit paths, avoid source-relative discovery, do not write unless an explicit safe output is requested, and do not start external services. Any native simulator, training, logger, deployment, Docker, SDK, LCM, SSH, rsync, sudo, or motor action requires a separately approved and backend-qualified operator workflow outside this skill.