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refactor deploy scripts.

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This commit is contained in:
wertyuilife
2026-03-31 12:58:24 +08:00
parent fea45ce4bd
commit f6ec5b68cc
3 changed files with 427 additions and 347 deletions
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11
deploy/deploy_mujoco/configs/go2.yaml
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@@ -1,5 +1,10 @@
policy_path: "{ROOT_DIR}/deploy/pretrain/go2/go2_moe_cts_1500.pt"
xml_path: "{ROOT_DIR}/resources/go2/stairs.xml"
policy_path: "{ROOT_DIR}/deploy/pre_train/wyh/go2_moe_cts_v1_49500.pt"
xml_path: "{ROOT_DIR}/resource/stairs.xml"
render_fps: 240
video_fps: 60
save_video: false
# Total simulation time
simulation_duration: 60000000.0
@@ -10,7 +15,7 @@ control_decimation: 10
base_init_pos: [0.0, 0.0, 0.57]
base_init_quat: [1.0, 0.0, 0.0, 0.0]
# For IsaacLab DelayedPDActuatorCfg, if not used, set all delay to 0.
# Based on the implementation of IsaacLab's DelayedPDActuatorCfg.
actuator_delay_min: 0
actuator_delay_max: 0
actuator_delay_seed: 0