cyy/go2_rl_gym
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v0.1.6; add rem-cts

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wty-yy
2026-01-07 23:01:52 +08:00
parent 858314fcfa
commit 41295f7e72
10 changed files with 419 additions and 10 deletions
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3
legged_gym/envs/__init__.py
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@@ -1,7 +1,7 @@
from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
from legged_gym.envs.go2.go2_env import Go2Robot
from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMCPCTS, GO2CfgACMoECTS, GO2CfgDualMoECTS
from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMCPCTS, GO2CfgACMoECTS, GO2CfgDualMoECTS, GO2CfgREMCTS
from .base.legged_robot import LeggedRobot
from legged_gym.utils.task_registry import task_registry
@@ -12,3 +12,4 @@ task_registry.register("go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
task_registry.register("go2_mcp_cts", Go2Robot, GO2Cfg(), GO2CfgMCPCTS())
task_registry.register("go2_ac_moe_cts", Go2Robot, GO2Cfg(), GO2CfgACMoECTS())
task_registry.register("go2_dual_moe_cts", Go2Robot, GO2Cfg(), GO2CfgDualMoECTS())
task_registry.register("go2_rem_cts", Go2Robot, GO2Cfg(), GO2CfgREMCTS())