go2_rl_gym/cmd.md at 004304b8b77bf31461bc4910dc77e0432b492362 - go2_rl_gym - Gitea: Git with a cup of tea

cyy/go2_rl_gym

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wty-yy 0c56db7e42 Init

2025-12-29 16:33:09 +08:00

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Train

python legged_gym/scripts/train.py --task=go2 --num_envs 4096 --headless
python legged_gym/scripts/train.py --task=go2 --num_envs 128 --resume --load_run Nov13_11-14-22_wave_slope_rough_slope
python legged_gym/scripts/train.py --task=go2 --num_envs 8  # DEBUG
# CTS
python legged_gym/scripts/train.py --task=go2_cts --num_envs 8096 --headless

Play

python legged_gym/scripts/play.py --task=go2 --num_envs 8  # load latest
python legged_gym/scripts/play.py --task=go2 --num_envs 8 --load_run Nov13_00-00-05_  # load specified run
# CTS
python legged_gym/scripts/play.py --task=go2_cts --num_envs 8