cyy/go2_rl_gym
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add new terrains

Browse Source
This commit is contained in:
wty-yy
2026-02-02 15:50:04 +08:00
parent f7a5dc3fc9
commit 66d223d972
12 changed files with 155 additions and 823 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
deploy/deploy_mujoco/configs/go2.yaml
View File

@@ -2,8 +2,10 @@ policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.63
# 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
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml"
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_slope.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_stairs.xml"
# Total simulation time
simulation_duration: 60000000.0