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wty-yy
2025-12-29 16:33:09 +08:00
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## Train
```bash
python legged_gym/scripts/train.py --task=go2 --num_envs 4096 --headless
python legged_gym/scripts/train.py --task=go2 --num_envs 128 --resume --load_run Nov13_11-14-22_wave_slope_rough_slope
python legged_gym/scripts/train.py --task=go2 --num_envs 8 # DEBUG
# CTS
python legged_gym/scripts/train.py --task=go2_cts --num_envs 8096 --headless
```
## Play
```bash
python legged_gym/scripts/play.py --task=go2 --num_envs 8 # load latest
python legged_gym/scripts/play.py --task=go2 --num_envs 8 --load_run Nov13_00-00-05_ # load specified run
# CTS
python legged_gym/scripts/play.py --task=go2_cts --num_envs 8
```