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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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7
legged_gym/utils/helpers.py
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@@ -118,6 +118,10 @@ def update_cfg_from_args(env_cfg, cfg_train, args):
cfg_train.runner.load_run = args.load_run
if args.checkpoint is not None:
cfg_train.runner.checkpoint = args.checkpoint
if args.robogauge is not None:
cfg_train.robogauge.enabled = args.robogauge
if args.robogauge_port is not None:
cfg_train.robogauge.port = args.robogauge_port
return env_cfg, cfg_train
@@ -136,6 +140,9 @@ def get_args():
{"name": "--num_envs", "type": int, "help": "Number of environments to create. Overrides config file if provided."},
{"name": "--seed", "type": int, "help": "Random seed. Overrides config file if provided."},
{"name": "--max_iterations", "type": int, "help": "Maximum number of training iterations. Overrides config file if provided."},
{"name": "--robogauge", "action": "store_true", "default": False, "help": "Enable robogauge evaluation interface."},
{"name": "--robogauge_port", "type": int, "default": 9973, "help": "Port for robogauge evaluation interface."},
]
# parse arguments
args = gymutil.parse_arguments(