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2026-08-01 20:16:37 +08:00
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四足机器狗训练到实机部署全流程指南.md
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@@ -105,7 +105,7 @@ RoboGauge 当前关注的指标包括关节软限位、线/角速度误差、电
我们在地瓜的robogo的云桌面平台--[d-robotics](https://robogo.d-robotics.cc/cloud-desktop)
提供了配置好所有环境开箱即用的镜像
![image-20260801194631847](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801194631847.png)
![image-20260801194631847](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801194631847.png)
如上创建桌面，选择DOG-MOE-CTS_V1.1的镜像开始创建，选择12g-16c32g的配置
@@ -500,7 +500,7 @@ ssh -L 6006:127.0.0.1:6006 <USER>@<TRAIN_HOST>
| `Curriculum/terrain_levels` | 地形难度是否连续变化 |
| `Metrics/base_velocity/max_command_x` | 是否在 20000/50000 轮发生指令课程切换 |
![屏幕截图 2026-08-01 184526](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE%202026-08-01%20184526.png)
![屏幕截图 2026-08-01 184526](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE%202026-08-01%20184526.png)
不要跨课程直接比较总回报绝对值，也不要只选平均回报最高或轮次最大的 checkpoint。建议将课程切换前后和训练后期的候选模型同时送入 RoboGauge，比较综合分数和分项指标后再决定
## 8. 评估与导出模型
@@ -643,7 +643,7 @@ MUJOCO_GL=glfw MPLCONFIGDIR=/tmp/robogauge-matplotlib /opt/envs/robogauge/bin/py
--headless
```
![image-20260801200427939](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801200427939.png)
![image-20260801200427939](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801200427939.png)
三级楼梯使用目标点任务。`--spawn-type level_eval` 固定评估出生点，避免和搜索最高等级时的出生点混淆：
```bash
@@ -757,7 +757,7 @@ MUJOCO_GL=glfw /opt/envs/robogauge/bin/python deploy_go1_onnx_mujoco_lab.py \
--spawn-z 0.34
```
![屏幕截图 2026-08-01 161128](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE%202026-08-01%20161128.png)
![屏幕截图 2026-08-01 161128](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE%202026-08-01%20161128.png)
键盘映射：
@@ -993,7 +993,7 @@ cmake --build /opt/unitree_legged_sdk/build --parallel
内部通信结构如下：
![img](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/NetworkLayout.png)
![img](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/NetworkLayout.png)
内部的控制都是通过一台机器狗内部的交换机完成的，通过狗背部暴露出的网口即可完成与它的内部通信（前提是ip需要是统一网段192.168.123.xxx，需要自行修改固定s100和x5的网口的ip，比如配置eth0的ip为192.168.123.222)，检验是否连接到内部：
@@ -1003,9 +1003,9 @@ ping 192.168.123.161
下图是网线的连接示意图
![image-20260801193808916](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801193808916.png)
![image-20260801193808916](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801193808916.png)
![image-20260801191848283](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801191848283.png)
![image-20260801191848283](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801191848283.png)
@@ -1027,27 +1027,27 @@ vim ~/.ssh/authorized_keys
我们使用的s100需要19v的供电，宇树go1的背部有给出对外的接口，如图
![image-20260801192200981](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801192200981.png)
![image-20260801192200981](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801192200981.png)
是一个24v xt30的接口，我们只需要使用一个24v转19v的降压模块即可（同时注意电流承载大致6A）
建议接入之前先使用可调电源和万用表测试输入输出电压
![屏幕截图 2026-08-01 192536](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE%202026-08-01%20192536.png)
![屏幕截图 2026-08-01 192536](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE%202026-08-01%20192536.png)
![image-20260801192620807](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801192620807.png)
![image-20260801192620807](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801192620807.png)
对于s100还需要一根dc的接口
如图接线：
![img_v3_02145_97a765f5-ee43-4437-b264-4555bfb617eg](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/img_v3_02145_97a765f5-ee43-4437-b264-4555bfb617eg.jpg)
![img_v3_02145_97a765f5-ee43-4437-b264-4555bfb617eg](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/img_v3_02145_97a765f5-ee43-4437-b264-4555bfb617eg.jpg)
左右两边黄色打印机只是支撑的作用（两个小claude）
接上go1就是这样：
![image-20260801193333084](E:/race_save/doge/dog_train_deploy_guide_doc/%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801193333084.png)
![image-20260801193333084](./%E5%9B%9B%E8%B6%B3%E6%9C%BA%E5%99%A8%E7%8B%97%E8%AE%AD%E7%BB%83%E5%88%B0%E5%AE%9E%E6%9C%BA%E9%83%A8%E7%BD%B2%E5%85%A8%E6%B5%81%E7%A8%8B%E6%8C%87%E5%8D%97.assets/image-20260801193333084.png)
此外建议加一根足够强劲的狗绳来在紧急时候减小对小电脑的冲击，起到保护作用