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change policy_path to step-policy

This commit is contained in:
junhyekh 2025-02-19 06:58:35 +00:00
parent 7fb210f5fe
commit a0e4825fb2
1 changed files with 1 additions and 1 deletions
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deploy/deploy_real/configs/g1.yaml
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@ -7,7 +7,7 @@ imu_type: "pelvis" # "torso" or "pelvis"
lowcmd_topic: "rt/lowcmd" lowcmd_topic: "rt/lowcmd"
lowstate_topic: "rt/lowstate" lowstate_topic: "rt/lowstate"
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/policy.pt" policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/step_policy.pt"
leg_joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] leg_joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,