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v0.1.9

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wty-yy
2025-12-18 13:50:23 +08:00
parent 9d509829a5
commit 1e1a04b4c0
18 changed files with 195 additions and 60 deletions
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12
robogauge/tasks/custom/go2_flat_task.py
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@@ -1,5 +1,6 @@
from robogauge.tasks.robots import Go2Config, Go2MoEConfig
from robogauge.tasks.gauge import FlatGaugeConfig
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
class Go2FlatGaugeConfig(FlatGaugeConfig):
class metrics(FlatGaugeConfig.metrics):
@@ -11,10 +12,12 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
class goals(FlatGaugeConfig.goals):
class max_velocity(FlatGaugeConfig.goals.max_velocity):
enabled = True
cmd_duration = 5.0
move_duration = 5.0
end_stance = True
stance_duration = 2.0
class diagonal_velocity(FlatGaugeConfig.goals.diagonal_velocity):
enabled = False
enabled = True
cmd_duration = 6.0
class Go2FlatConfig(Go2Config):
@@ -32,3 +35,8 @@ class Go2MoEFlatConfig(Go2MoEConfig):
class control(Go2Config.control):
# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
model_path = "/home/xfy/Coding/kaiwu2025/rob_finals/sim2real/models/v6-2_106503/kaiwu_script_v6-2_106503.pt"
class Go2MoEFlatMujocoConfig(MujocoConfig):
class domain_rand(MujocoConfig.domain_rand):
base_mass = 0.0
friction = 1.0