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v1.1.1-rc2; add README

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wty-yy
2026-01-27 21:36:44 +08:00
parent 064d0c90ea
commit 93c815b2d9
10 changed files with 468 additions and 126 deletions
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deploy/deploy_real/configs/go2.yaml
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@@ -6,7 +6,7 @@ imu_type: "torso" # "torso" or "pelvis"
lowcmd_topic: "rt/lowcmd"
lowstate_topic: "rt/lowstate"
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"
joint2motor_idx: [3,4,5,0,1,2,9,10,11,6,7,8]