cyy/RoboGauge
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

v0.1.11

Browse Source
This commit is contained in:
wty-yy
2025-12-21 00:16:07 +08:00
parent 939dc69b7e
commit 4546be76bf
14 changed files with 246 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
robogauge/tasks/custom/go2_flat_task.py
View File

@@ -29,21 +29,30 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
enabled = True
cmd_duration = 6.0
class target_pos_velocity(FlatGaugeConfig.goals.target_pos_velocity): # goal to reach a target position by velocity command, config target at assets.target_pos
enabled = True
target_pos = [2, 2, 0] # x y z [m], target position in the environment, used for target position goal
lin_vel_x = 1.0 # +/- m/s
lin_vel_y = 1.0 # +/- m/s
ang_vel_yaw = 1.5 # +/- rad/s
max_cmd_duration = 10.0 # [s] maximum duration to reach the target position
reach_threshold = 0.1 # [m] distance threshold to consider the target reached
class Go2FlatConfig(Go2Config):
class commands(Go2Config.commands):
lin_vel_x = [-1.8, 1.8] # min max [m/s]
lin_vel_y = [-1.8, 1.8] # min max [m/s]
ang_vel_yaw = [-1.8, 1.8] # min max [rad/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
class Go2MoEFlatConfig(Go2MoEConfig):
class commands(Go2Config.commands):
lin_vel_x = [-1.8, 1.8] # min max [m/s]
lin_vel_y = [-1.8, 1.8] # min max [m/s]
ang_vel_yaw = [-1.8, 1.8] # min max [rad/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
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"
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):