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Add Go1 evaluation and keyboard control

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youyuan.chen
2026-07-24 12:00:53 +08:00
parent c1b347c89f
commit 35a1d278e8
21 changed files with 443 additions and 1 deletions
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11
robogauge/tasks/__init__.py
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@@ -8,6 +8,8 @@ from robogauge.tasks.robots import (
Go2TerrainConfig,
Go2LabTerrainConfig,
Go2MoETerrainConfig,
Go1MoEConfig,
Go1MoETerrainConfig,
)
from robogauge.tasks.pipeline import BasePipeline
from robogauge.tasks.gauge import BaseGaugeConfig
@@ -35,6 +37,15 @@ task_register.register('go2_moe.stairs_fd', BasePipeline, MujocoConfig, Go2Stair
task_register.register('go2_moe.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go2MoETerrainConfig)
task_register.register('go2_moe.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2MoETerrainConfig)
# Go1 MoE (the policy is evaluated in the Go1 MuJoCo dynamics model)
task_register.register('go1_moe.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go1MoEConfig)
task_register.register('go1_moe.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go1MoETerrainConfig)
task_register.register('go1_moe.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go1MoETerrainConfig)
task_register.register('go1_moe.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go1MoETerrainConfig)
task_register.register('go1_moe.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go1MoETerrainConfig)
task_register.register('go1_moe.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go1MoETerrainConfig)
task_register.register('go1_moe.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go1MoETerrainConfig)
# Go2 Lab
task_register.register('go2_lab.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2LabConfig)
task_register.register('go2_lab.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2LabTerrainConfig)