cyy/go2_rl_gym
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Add mcp-cts

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wty-yy
2025-12-31 01:16:33 +08:00
parent 010c5b1700
commit 9ed3f0e144
11 changed files with 609 additions and 145 deletions
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9
legged_gym/envs/__init__.py
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@@ -1,11 +1,12 @@
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
from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMCPCTS
from .base.legged_robot import LeggedRobot
from legged_gym.utils.task_registry import task_registry
task_registry.register( "go2", Go2Robot, GO2Cfg(), GO2CfgPPO())
task_registry.register( "go2_cts", Go2Robot, GO2Cfg(), GO2CfgCTS())
task_registry.register( "go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
task_registry.register("go2", Go2Robot, GO2Cfg(), GO2CfgPPO())
task_registry.register("go2_cts", Go2Robot, GO2Cfg(), GO2CfgCTS())
task_registry.register("go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
task_registry.register("go2_mcp_cts", Go2Robot, GO2Cfg(), GO2CfgMCPCTS())