cyy/RoboGauge
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v1.0.0

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wty-yy
2025-12-29 23:41:09 +08:00
parent c28bb64b0a
commit 587d014683
44 changed files with 196 additions and 714 deletions
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14
robogauge/tasks/__init__.py
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@@ -11,16 +11,18 @@ task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, Robo
# Go2 MLP
task_register.register('go2.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
task_register.register('go2.slope', BasePipeline, MujocoConfig, Go2SlopeGaugeConfig, Go2TerrainConfig)
task_register.register('go2.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2TerrainConfig)
task_register.register('go2.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go2TerrainConfig)
task_register.register('go2.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2TerrainConfig)
task_register.register('go2.stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2TerrainConfig)
task_register.register('go2.stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2TerrainConfig)
task_register.register('go2.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go2TerrainConfig)
task_register.register('go2.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go2TerrainConfig)
task_register.register('go2.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2TerrainConfig)
# Go2 MoE
task_register.register('go2_moe.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
task_register.register('go2_moe.slope', BasePipeline, MujocoConfig, Go2SlopeGaugeConfig, Go2MoETerrainConfig)
task_register.register('go2_moe.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2MoETerrainConfig)
task_register.register('go2_moe.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go2MoETerrainConfig)
task_register.register('go2_moe.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2MoETerrainConfig)
task_register.register('go2_moe.stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2MoETerrainConfig)
task_register.register('go2_moe.stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2MoETerrainConfig)
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)