fix small bugs on getup_config and save videos on play.py, update git…

…ignore (#5)

Co-authored-by: Ke Wang <kea.wang@dyson.com>

.gitignore

@@ -24,3 +24,5 @@ out*/
 
 # Training artifacts
 wandb/
+runs/
+stompy/

sim/humanoid_gym/envs/getup_config.py

@@ -41,8 +41,8 @@ class asset(LeggedRobotCfg.asset):  # noqa: N801
         name = "stompy"
         foot_name = "_leg_1_x4_1_outer_1"  # "foot"
         knee_name = "belt_knee"  # "knee"
-        terminate_after_contacts_on: list[str] = []  # "link_torso_1_top_torso_1"]
-        penalize_contacts_on: list[str] = []
+        terminate_after_contacts_on = []  # "link_torso_1_top_torso_1"]
+        penalize_contacts_on = []
         self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter
         flip_visual_attachments = False
         replace_cylinder_with_capsule = False

sim/humanoid_gym/play.py

@@ -71,7 +71,7 @@ def play(args: argparse.Namespace) -> None:
         experiment_dir = video_dir / train_cfg.runner.experiment_name
         experiment_dir.mkdir(parents=True, exist_ok=True)
 
-        dir = os.path.join(experiment_dir, datetime.now().strftime("%b%d_%H-%M-%S") + args.run_name + ".mp4")
+        dir = os.path.join(experiment_dir, datetime.now().strftime("%b%d_%H-%M-%S") + str(args.run_name) + ".mp4")
         if not os.path.exists(video_dir):
             os.mkdir(video_dir)
         if not os.path.exists(experiment_dir):