14 lines
689 B
Python
14 lines
689 B
Python
from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
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from legged_gym.envs.go2.go2_env import Go2Robot
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from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMCPCTS, GO2CfgACMoECTS
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from .base.legged_robot import LeggedRobot
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from legged_gym.utils.task_registry import task_registry
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task_registry.register("go2", Go2Robot, GO2Cfg(), GO2CfgPPO())
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task_registry.register("go2_cts", Go2Robot, GO2Cfg(), GO2CfgCTS())
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task_registry.register("go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
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task_registry.register("go2_mcp_cts", Go2Robot, GO2Cfg(), GO2CfgMCPCTS())
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task_registry.register("go2_ac_moe_cts", Go2Robot, GO2Cfg(), GO2CfgACMoECTS())
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