Add lab

robogauge/tasks/__init__.py

@@ -1,6 +1,14 @@
 from robogauge.utils.task_register import task_register
 from robogauge.tasks.simulator.mujoco_config import MujocoConfig
-from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig, Go2TerrainConfig, Go2MoETerrainConfig
+from robogauge.tasks.robots import (
+    RobotConfig,
+    Go2Config,
+    Go2LabConfig,
+    Go2MoEConfig,
+    Go2TerrainConfig,
+    Go2LabTerrainConfig,
+    Go2MoETerrainConfig,
+)
 from robogauge.tasks.pipeline import BasePipeline
 from robogauge.tasks.gauge import BaseGaugeConfig
 
@@ -26,3 +34,12 @@ task_register.register('go2_moe.wave', BasePipeline, MujocoConfig, Go2WaveGaugeC
 task_register.register('go2_moe.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go2MoETerrainConfig)
 task_register.register('go2_moe.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go2MoETerrainConfig)
 task_register.register('go2_moe.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2MoETerrainConfig)
+
+# Go2 Lab
+task_register.register('go2_lab.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2LabConfig)
+task_register.register('go2_lab.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2LabTerrainConfig)
+task_register.register('go2_lab.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go2LabTerrainConfig)
+task_register.register('go2_lab.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2LabTerrainConfig)
+task_register.register('go2_lab.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go2LabTerrainConfig)
+task_register.register('go2_lab.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go2LabTerrainConfig)
+task_register.register('go2_lab.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2LabTerrainConfig)

robogauge/tasks/robots/__init__.py

@@ -1,6 +1,7 @@
 from .base_robot_config import RobotConfig
 from .base_robot import BaseRobot
 from .go2.go2_config import Go2Config, Go2TerrainConfig
+from .go2.go2_lab_config import Go2LabConfig, Go2LabTerrainConfig
 from .go2.go2 import Go2
 from .go2.go2_moe_config import Go2MoEConfig, Go2MoETerrainConfig
 from .go2.go2_moe import Go2MoE

robogauge/tasks/robots/go2/go2_lab_config.py

@@ -0,0 +1,23 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_lab_config.py
+@Time    : 2026/04/11 17:59:09
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Lab Robot Configuration
+'''
+from robogauge.tasks.robots.go2.go2_config import Go2Config, Go2TerrainConfig
+
+
+class Go2LabConfig(Go2Config):
+    """Go2 Lab robot configuration aligned with RobotLab observation scaling."""
+
+    class control(Go2Config.control):
+        class scales(Go2Config.control.scales):
+            # RobotLab policy command observation uses unit scale.
+            cmd = [1.0, 1.0, 1.0]
+
+
+class Go2LabTerrainConfig(Go2LabConfig, Go2TerrainConfig):
+    """Go2 Lab robot configuration for terrain tasks."""