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Add Go1 evaluation and keyboard control

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This commit is contained in:
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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resources/models/go1/policy.pt Normal file
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resources/robots/go1/go1.xml Normal file
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@@ -0,0 +1,197 @@
<mujoco model="go1">
<compiler angle="radian" meshdir="assets" />
<size njmax="500" nconmax="100" />
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
<default>
<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
<light castshadow="false" diffuse="1 1 1"/>
<motor ctrlrange="-33.5 33.5" ctrllimited="true"/>
<camera fovy="60"/>
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
</default>
<asset>
<mesh name="trunk" file="trunk.stl" />
<mesh name="hip" file="hip.stl" />
<mesh name="thigh_mirror" file="thigh_mirror.stl" />
<mesh name="calf" file="calf.stl" />
<mesh name="thigh" file="thigh.stl" />
</asset>
<worldbody>
<body name="base_link" pos="0 0 0.35">
<inertial pos="0.0116053 0.00442221 0.000106692" quat="0.0111438 0.707126 -0.00935374 0.706938" mass="4.801" diaginertia="0.0447997 0.0366257 0.0162187" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
<geom size="0.13 0.04675 0.057" type="box" rgba="0.913725 0.913725 0.847059 1" />
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" rgba="0.8 0 0 0" />
<site name="imu" pos="0 0 0"/>
<body name="FR_hip" pos="0.1881 -0.04675 0">
<inertial pos="-0.00406411 -0.0193463 4.50733e-06" quat="0.467526 0.531662 -0.466259 0.530431" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="FR_thigh" pos="0 -0.08 0">
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="FR_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom name="FR" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="FR_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="FL_hip" pos="0.1881 0.04675 0">
<inertial pos="-0.00406411 0.0193463 4.50733e-06" quat="0.531662 0.467526 -0.530431 0.466259" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="FL_thigh" pos="0 0.08 0">
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="FL_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom name="FL" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="FL_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="RR_hip" pos="-0.1881 -0.04675 0">
<inertial pos="0.00406411 -0.0193463 4.50733e-06" quat="0.530431 0.466259 -0.531662 0.467526" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="RR_thigh" pos="0 -0.08 0">
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="RR_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom name="RR" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="RR_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
<body name="RL_hip" pos="-0.1881 0.04675 0">
<inertial pos="0.00406411 0.0193463 4.50733e-06" quat="0.466259 0.530431 -0.467526 0.531662" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
<geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="RL_thigh" pos="0 0.08 0">
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="RL_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom name="RL" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
<body name="RL_foot" pos="0 0 -0.213" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
</actuator>
<sensor>
<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
<jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" />
<jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" />
<jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" />
<jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" />
<jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" />
<jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" />
<jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" />
<jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" />
<jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" />
<jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" />
<jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" />
<jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" />
<accelerometer name="Body_Acc" site="imu"/>
<gyro name="Body_Gyro" site="imu"/>
<framepos name="Body_Pos" objtype="site" objname="imu"/>
<framelinvel name="Body_LinVel" objtype="site" objname="imu"/>
<framequat name="Body_Quat" objtype="site" objname="imu"/>
</sensor>
</mujoco>

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)

3
robogauge/tasks/gauge/base_gauge.py
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@@ -58,6 +58,9 @@ class BaseGauge:
elif name == 'joystick':
self.goals.append(JoystickGoal(robot_cfg.commands, **kwargs))
log_str += f" - Joystick Goal: {kwargs}\n"
elif name == 'keyboard':
self.goals.append(KeyboardGoal(robot_cfg.commands, **kwargs))
log_str += f" - Keyboard Goal: {kwargs}\n"
else:
raise NotImplementedError(f"Goal '{name}' is not implemented in BaseGauge.")
self.info['goal'].append(name)

4
robogauge/tasks/gauge/base_gauge_config.py
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@@ -55,6 +55,10 @@ class BaseGaugeConfig(Config):
goal_type = 'velocity' # 'velocity'
dead_zone = 0.1 # joystick dead zone
class keyboard: # goal controlled by a keyboard listener independent of MuJoCo
enabled = False
goal_type = 'velocity'
class metrics:
metric_dt = 0.1 # [s] frequency to compute metrics
class dof_limits:

1
robogauge/tasks/gauge/goals/__init__.py
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@@ -1,3 +1,4 @@
from robogauge.tasks.gauge.goals.base_goal import BaseGoal
from robogauge.tasks.gauge.goals.joystick_goal import JoystickGoal
from robogauge.tasks.gauge.goals.keyboard_goal import KeyboardGoal
from robogauge.tasks.gauge.goals.velocity_goals import MaxVelocityGoal, DiagonalVelocityGoal, TargetPosVelocityGoal

149
robogauge/tasks/gauge/goals/keyboard_goal.py Normal file
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@@ -0,0 +1,149 @@
# -*- coding: utf-8 -*-
"""Keyboard teleoperation goal using an input listener separate from MuJoCo."""
import atexit
import queue
import threading
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal
from robogauge.tasks.gauge.goals.base_goal import BaseGoal
from robogauge.tasks.simulator.sim_data import SimData
from robogauge.utils.helpers import class_to_dict
from robogauge.utils.logger import logger
class _KeyboardState:
"""Track held keys without replacing MuJoCo viewer shortcuts."""
def __init__(self):
self.events = queue.Queue()
self.running = False
self.held = set()
self.lock = threading.Lock()
self.thread = None
self.listener = None
@staticmethod
def _name(key):
try:
if hasattr(key, 'char') and key.char:
return key.char.lower()
except Exception:
pass
return str(key).lower()
def _worker(self):
while self.running:
try:
event_type, key = self.events.get(timeout=0.05)
except queue.Empty:
continue
name = self._name(key)
with self.lock:
if event_type == 'press':
self.held.add(name)
else:
self.held.discard(name)
def start(self):
try:
from pynput import keyboard
except ImportError as exc:
raise ImportError(
"Keyboard control requires 'pynput'. Install it with "
"'python -m pip install pynput'."
) from exc
self.running = True
self.listener = keyboard.Listener(
on_press=lambda key: self.events.put(('press', key)),
on_release=lambda key: self.events.put(('release', key)),
)
self.listener.start()
self.thread = threading.Thread(target=self._worker, daemon=True)
self.thread.start()
def snapshot(self):
with self.lock:
return set(self.held)
def clear(self):
with self.lock:
self.held.clear()
def stop(self):
self.running = False
if self.listener is not None:
self.listener.stop()
self.listener = None
class KeyboardGoal(BaseGoal):
"""Produce velocity commands while the configured teleoperation keys are held."""
name = 'keyboard'
def __init__(self, max_velocity, goal_type='velocity', **kwargs):
super().__init__()
if goal_type != 'velocity':
raise NotImplementedError("Only 'velocity' goal type is implemented for KeyboardGoal.")
kwargs.pop('enabled', None)
if kwargs:
logger.warning(f"Unused kwargs in KeyboardGoal: {kwargs}")
self.max_velocity = class_to_dict(max_velocity)
self.total = 1
self.current_command = (0.0, 0.0, 0.0)
self.keyboard = _KeyboardState()
self.keyboard.start()
atexit.register(self.keyboard.stop)
logger.info(
"Keyboard control: Up/Down=forward/back, Left/Right=yaw, "
"','=left strafe, '.'=right strafe, K=stop. "
"MuJoCo viewer shortcuts remain independent."
)
def is_reset(self, sim_data: SimData) -> bool:
return False
def pre_get_goal(self, sim_data: SimData) -> bool:
return False
def reset_goal(self):
self.keyboard.clear()
self.current_command = (0.0, 0.0, 0.0)
@staticmethod
def _axis_command(held, positive_key, negative_key, limits):
positive = positive_key in held
negative = negative_key in held
if positive == negative:
return 0.0
return float(limits[1] if positive else limits[0])
def command_from_keys(self, held):
if 'k' in held:
return 0.0, 0.0, 0.0
return (
self._axis_command(held, 'key.up', 'key.down', self.max_velocity['lin_vel_x']),
self._axis_command(held, ',', '.', self.max_velocity['lin_vel_y']),
self._axis_command(held, 'key.left', 'key.right', self.max_velocity['ang_vel_yaw']),
)
def get_goal(self, sim_data: SimData) -> GoalData:
command = self.command_from_keys(self.keyboard.snapshot())
if command != self.current_command:
self.current_command = command
logger.info(
"Keyboard command: vx=%.2f, vy=%.2f, yaw=%.2f",
*command,
)
return GoalData(
goal_type='velocity',
velocity_goal=VelocityGoal(
lin_vel_x=command[0],
lin_vel_y=command[1],
ang_vel_yaw=command[2],
),
)

2
robogauge/tasks/pipeline/base_pipeline.py
View File

@@ -17,7 +17,7 @@ from copy import deepcopy
from robogauge.utils.logger import logger
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig, SimData
from robogauge.tasks.robots import (
BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE
BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE, Go1MoE
)
from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal

1
robogauge/tasks/robots/__init__.py
View File

@@ -5,3 +5,4 @@ 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
from .go1 import Go1Config, Go1TerrainConfig, Go1, Go1MoEConfig, Go1MoETerrainConfig, Go1MoE

4
robogauge/tasks/robots/go1/__init__.py Normal file
View File

@@ -0,0 +1,4 @@
from .go1_config import Go1Config, Go1TerrainConfig
from .go1 import Go1
from .go1_moe_config import Go1MoEConfig, Go1MoETerrainConfig
from .go1_moe import Go1MoE

13
robogauge/tasks/robots/go1/go1.py Normal file
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@@ -0,0 +1,13 @@
# -*- coding: utf-8 -*-
"""Go1 policy adapter.
The trained policy and the Go1 MuJoCo asset both use FR, FL, RR, RL joint
groups. Isaac Gym exposed the training asset as FL, FR, RL, RR, but Go1Robot
permuted its observations and actions during training.
"""
from robogauge.tasks.robots.go2.go2 import Go2
class Go1(Go2):
pass

38
robogauge/tasks/robots/go1/go1_config.py Normal file
View File

@@ -0,0 +1,38 @@
# -*- coding: utf-8 -*-
"""Go1 configuration for the RoboGauge MuJoCo evaluator."""
from robogauge.tasks.robots.go2.go2_config import Go2Config
class Go1Config(Go2Config):
robot_name = 'go1'
robot_class = 'Go1'
class assets(Go2Config.assets):
robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go1/go1.xml"
foot_geom_names = ['FR', 'FL', 'RR', 'RL']
class control(Go2Config.control):
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go1/policy.pt"
control_dt = 0.02
p_gains = [28.0] * 12
d_gains = [0.7] * 12
# Both this MuJoCo model and the trained policy use FR, FL, RR, RL.
# Go1Robot permuted Isaac Gym's FL, FR, RL, RR asset state into this
# order during training, so applying that permutation again here
# would swap every left/right leg pair.
default_dof_pos = [
-0.1, 0.8, -1.5,
0.1, 0.8, -1.5,
-0.1, 1.0, -1.5,
0.1, 1.0, -1.5,
]
mj2model_dof_indices = list(range(12))
class Go1TerrainConfig(Go1Config):
class commands(Go1Config.commands):
lin_vel_x = [-1.0, 1.0]
lin_vel_y = [-1.0, 1.0]
ang_vel_yaw = [-1.5, 1.5]

8
robogauge/tasks/robots/go1/go1_moe.py Normal file
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@@ -0,0 +1,8 @@
# -*- coding: utf-8 -*-
"""MoE Go1 policy adapter."""
from robogauge.tasks.robots.go2.go2_moe import Go2MoE
class Go1MoE(Go2MoE):
pass

12
robogauge/tasks/robots/go1/go1_moe_config.py Normal file
View File

@@ -0,0 +1,12 @@
# -*- coding: utf-8 -*-
"""MoE policy configuration for the trained Go1 checkpoint."""
from robogauge.tasks.robots.go1.go1_config import Go1Config, Go1TerrainConfig
class Go1MoEConfig(Go1Config):
robot_class = 'Go1MoE'
class Go1MoETerrainConfig(Go1TerrainConfig, Go1MoEConfig):
robot_class = 'Go1MoE'

1
setup.py
View File

@@ -23,6 +23,7 @@ setup(
"fastapi",
"uvicorn",
"pygame",
"pynput",
],
python_requires=">=3.8",