override覆盖torques扭矩1args()参数信息等cd/home/yyds/桌面/Gym2/legged_robot_competition-master/legged_gym/legged_gym/utils/helpers.py这里对train等参数的调用情况进行了说明比如：pythonplay.py--task=go2--num_envs=64--checkpoint=50--load_run=/ho

1下载相关文件进入github中下载相关的文件https://github.com/leggedrobotics/legged_gym2加载自己绘制的URTL文件这个链接用来下载宇树的Go2模型机器人https://github.com/unitreerobotics/unitree_rl_gym/tree/main下载好了urdf文件，将其中resources/robots/go2文件复制

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LeggedGym（包含IsaacGym）安装教程——Ubuntu22.04安装IsaacGym安装leggedgym2.1.安装pytorch和cuda:2.2.安装rsl_r2.3.安装legged_gym参考了官方包括网上一堆教程，结合自己遇到的坑，整理了一个比较顺畅的流程，基础环境（例如miniconda或者CUDA）配好的情况下按照本教程