From 5e5ca9c67dd13f053490e02a17e999217e9f602f Mon Sep 17 00:00:00 2001 From: wty-yy Date: Tue, 10 Feb 2026 21:27:29 +0800 Subject: [PATCH] Change moe model name to go2_moe_cts_137k_0.6739.pt --- deploy/deploy_mujoco/configs/go2.yaml | 2 +- ...0_0.6365.pt => go2_moe_cts_137k_0.6739.pt} | Bin resources/robots/go2/stairs.xml | 192 ++++++++++++++++-- 3 files changed, 174 insertions(+), 20 deletions(-) rename deploy/pre_train/go2/{go2_moe_cts_137000_0.6365.pt => go2_moe_cts_137k_0.6739.pt} (100%) mode change 100644 => 100755 resources/robots/go2/stairs.xml diff --git a/deploy/deploy_mujoco/configs/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml index bfc8f5f..76764fa 100644 --- a/deploy/deploy_mujoco/configs/go2.yaml +++ b/deploy/deploy_mujoco/configs/go2.yaml @@ -1,4 +1,4 @@ -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_moe_cts_137k_0.6739.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" diff --git a/deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt b/deploy/pre_train/go2/go2_moe_cts_137k_0.6739.pt similarity index 100% rename from deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt rename to deploy/pre_train/go2/go2_moe_cts_137k_0.6739.pt diff --git a/resources/robots/go2/stairs.xml b/resources/robots/go2/stairs.xml old mode 100644 new mode 100755 index 6fb6c1a..a689b65 --- a/resources/robots/go2/stairs.xml +++ b/resources/robots/go2/stairs.xml @@ -1,33 +1,187 @@ - - + + - - - - + - - - - - - \ No newline at end of file + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +