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v1.0.2-rc1; mv rem_cts to moe_cts, moe_cts to moe_no_goal_cts, fix rem params same as moe, add --robogauge to start

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wty-yy
2026-01-26 17:48:34 +08:00
parent 2aed91e7ce
commit 1798e67c29
23 changed files with 438 additions and 409 deletions
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3
deploy/deploy_mujoco/configs/go2.yaml
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@@ -1,4 +1,5 @@
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt"
# policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml" # change go2 init pos to pos="-5 2 0.445" in resources/robots/go2/go2.xml

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deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt Normal file
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