From 4fe5d5f95319235cf015370f81ac0364969ddd97 Mon Sep 17 00:00:00 2001 From: wertyuilife Date: Wed, 8 Apr 2026 16:52:17 +0800 Subject: [PATCH] update readme; update deploy config. --- CHANGELOG.md | 3 --- README.md | 12 +++++++----- deploy/deploy_mujoco/configs/go2.yaml | 4 ++-- 3 files changed, 9 insertions(+), 10 deletions(-) delete mode 100644 CHANGELOG.md diff --git a/CHANGELOG.md b/CHANGELOG.md deleted file mode 100644 index ceb17d7..0000000 --- a/CHANGELOG.md +++ /dev/null @@ -1,3 +0,0 @@ -# CHANGELOG -## v0.1 20260401 -1. 新增[commands_go2_rl_gym.py](source/robot_lab/robot_lab/tasks/go2/mdp/commands_go2_rl_gym.py)，将go2_rl_gym全部命令配置对齐 diff --git a/README.md b/README.md index 5ccec5a..d70787a 100644 --- a/README.md +++ b/README.md @@ -111,6 +111,12 @@ For more details, refer to the [robot_lab repo](https://github.com/fan-ziqi/robo ## MuJoCo Sim2Sim +Set the `policy_path` in `deploy/deploy_mujoco/configs/go2.yaml`: + +```yaml +policy_path: "{ROOT_DIR}/deploy/pre_train/go2/xxx.pt" # policy.pt exported by running scripts/rsl_rl/play.py +``` + Run the deployment script: ```bash @@ -133,11 +139,7 @@ python deploy/deploy_mujoco/deploy_go2.py ### Switching Simulation Scenarios -Modify `xml_path` in: - -``` -deploy/deploy_mujoco/config/go2.yaml -``` +Modify `xml_path` in `deploy/deploy_mujoco/config/go2.yaml`: ```yaml # Flat terrain diff --git a/deploy/deploy_mujoco/configs/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml index 6b3a321..af680e6 100644 --- a/deploy/deploy_mujoco/configs/go2.yaml +++ b/deploy/deploy_mujoco/configs/go2.yaml @@ -1,6 +1,6 @@ -policy_path: "{ROOT_DIR}/deploy/pre_train/wyh/go2_moe_cts_v1_49500.pt" +policy_path: "{ROOT_DIR}/deploy/pre_train/go2/xxx.pt" # policy.pt exported by running scripts/rsl_rl/play.py -xml_path: "{ROOT_DIR}/resource/stairs.xml" +xml_path: "{ROOT_DIR}/resource/go2/stairs.xml" render_fps: 240 video_fps: 60