From b2e779111b90d69a5e806d79b8df86cb351280e3 Mon Sep 17 00:00:00 2001
From: wertyuilife <yhw.werty@qq.com>
Date: Wed, 25 Mar 2026 20:01:34 +0800
Subject: [PATCH] update readme; rename config dir;

---
 .gitignore                                        |  2 --
 README.md                                         | 10 +++++-----
 deploy/deploy_mujoco/{config => configs}/go2.yaml |  2 +-
 3 files changed, 6 insertions(+), 8 deletions(-)
 rename deploy/deploy_mujoco/{config => configs}/go2.yaml (91%)

diff --git a/.gitignore b/.gitignore
index 0112dd7..61ab52a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -71,14 +71,12 @@ __pycache__/
 .DS_Store
 
 # ML checkpoints / datasets
-*.pt
 *.pth
 *.onnx
 *.npz
 *.npy
 
 # Large ML artifacts (do not commit)
-*.pt
 *.pth
 *.ckpt
 *.onnx
diff --git a/README.md b/README.md
index a5133a4..ce7f5ad 100644
--- a/README.md
+++ b/README.md
@@ -2,24 +2,24 @@
 
 ## Overview
 
-Train Unitree Go2 with MoE-CTS and deploy it on MuJoCo.
+Train Unitree Go2 with MoE-CTS on IsaacLab and deploy it to MuJoCo.
 
 This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on RobotLab/IsaacLab.
 
 ## Installation Guide
 
 ### 1. Install IsaacLab
-Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
+Install IsaacLab 2.3.0 release by following the [installation guide](https://isaac-sim.github.io/IsaacLab/release/2.3.0/source/setup/installation/pip_installation.html#).
 
-Notice that we use certain version of IsaacLab packages, newer versions may cause compatibility issues with `rsl_rl` and `robot_lab`. 
-
-Please make sure to use the following versions or older ones:
+After installation, your environment should satisfy the following requirements:
 ```
 isaacsim <= 5.1.0.0 # tested on 5.1.0.0
 isaaclab <= 0.53.1 # tested on 0.53.1
 isaaclab-rl <= 0.4.7 # tested on 0.4.7
 ```
 
+Higher version may cause conflicts with our customized `rsl_rl==3.3.0` and `robot_lab==2.3.0`.
+
 ### 2. Install customized RSL-RL and RobotLab
 We uses a customized version of `rsl_rl` and `robot_lab`. To install it, run the following commands:
 
diff --git a/deploy/deploy_mujoco/config/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml
similarity index 91%
rename from deploy/deploy_mujoco/config/go2.yaml
rename to deploy/deploy_mujoco/configs/go2.yaml
index 718ffe1..626cbc7 100644
--- a/deploy/deploy_mujoco/config/go2.yaml
+++ b/deploy/deploy_mujoco/configs/go2.yaml
@@ -1,4 +1,4 @@
-policy_path: "{ROOT_DIR}/deploy/pretrain/go2/wyh/go2_moe_cts_1500.pt"
+policy_path: "{ROOT_DIR}/deploy/pretrain/go2/go2_moe_cts_1500.pt"
 xml_path: "{ROOT_DIR}/resources/go2/stairs.xml"
 
 # Total simulation time