18 lines
853 B
Markdown
18 lines
853 B
Markdown
## Train
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```bash
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python legged_gym/scripts/train.py --task=go2 --num_envs 4096 --headless
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python legged_gym/scripts/train.py --task=go2 --num_envs 128 --resume --load_run Nov13_11-14-22_wave_slope_rough_slope
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python legged_gym/scripts/train.py --task=go2 --num_envs 8 # DEBUG
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python legged_gym/scripts/train.py --task=go2 --num_envs 4090 --headless --robogauge # Sim2Sim Evaluation
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# CTS
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python legged_gym/scripts/train.py --task=go2_cts --num_envs 8096 --headless --robogauge
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# MoE CTS
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python legged_gym/scripts/train.py --task=go2_moe_cts --num_envs 8096 --headless --robogauge
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```
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## Play
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```bash
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python legged_gym/scripts/play.py --task=go2 --num_envs 8 # load latest
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python legged_gym/scripts/play.py --task=go2 --num_envs 8 --load_run Nov13_00-00-05_ # load specified run
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# CTS
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python legged_gym/scripts/play.py --task=go2_cts --num_envs 8
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``` |