v1.0.0

robogauge/tasks/custom/go2/__init__.py

@@ -7,8 +7,7 @@
 @Blog    : https://wty-yy.github.io/
 '''
 from .go2_flat_task import Go2FlatGaugeConfig
-from .go2_slope_task import Go2SlopeGaugeConfig
+from .go2_slope_task import Go2SlopeForwardGaugeConfig, Go2SlopeBackwardGaugeConfig
 from .go2_wave_task import Go2WaveGaugeConfig
-from .go2_stairs_up_task import Go2StairsUpGaugeConfig
-from .go2_stairs_down_task import Go2StairsDownGaugeConfig
+from .go2_stairs_task import Go2StairsForwardGaugeConfig, Go2StairsBackwardGaugeConfig
 from .go2_obstacle_task import Go2ObstacleGaugeConfig

robogauge/tasks/custom/go2/go2_slope_task.py

@@ -8,12 +8,19 @@
 @Desc    : Go2 Slope Task Configuration
 '''
 from robogauge.tasks.robots import Go2Config, Go2MoEConfig
-from robogauge.tasks.gauge import SlopeGaugeConfig
+from robogauge.tasks.gauge import SlopeForwardGaugeConfig, SlopeBackwardGaugeConfig
 from robogauge.tasks.simulator.mujoco_config import MujocoConfig
 
-class Go2SlopeGaugeConfig(SlopeGaugeConfig):
-    class metrics(SlopeGaugeConfig.metrics):
-        class dof_limits(SlopeGaugeConfig.metrics.dof_limits):
+class Go2SlopeForwardGaugeConfig(SlopeForwardGaugeConfig):
+    class metrics(SlopeForwardGaugeConfig.metrics):
+        class dof_limits(SlopeForwardGaugeConfig.metrics.dof_limits):
+            enabled = True
+            soft_dof_limit_ratio = 0.7
+            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all
+
+class Go2SlopeBackwardGaugeConfig(SlopeBackwardGaugeConfig):
+    class metrics(SlopeBackwardGaugeConfig.metrics):
+        class dof_limits(SlopeBackwardGaugeConfig.metrics.dof_limits):
             enabled = True
             soft_dof_limit_ratio = 0.7
             dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/custom/go2/go2_stairs_down_task.py

@@ -1,19 +0,0 @@
-# -*- coding: utf-8 -*-
-'''
-@File    : go2_stairs_down_task.py
-@Time    : 2025/12/25 16:36:18
-@Author  : wty-yy
-@Version : 1.0
-@Blog    : https://wty-yy.github.io/
-@Desc    : Go2 Stairs Down Task Configuration
-'''
-from robogauge.tasks.robots import Go2Config, Go2MoEConfig
-from robogauge.tasks.gauge import StairsDownGaugeConfig
-from robogauge.tasks.simulator.mujoco_config import MujocoConfig
-
-class Go2StairsDownGaugeConfig(StairsDownGaugeConfig):
-    class metrics(StairsDownGaugeConfig.metrics):
-        class dof_limits(StairsDownGaugeConfig.metrics.dof_limits):
-            enabled = True
-            soft_dof_limit_ratio = 0.7
-            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/custom/go2/go2_stairs_task.py

@@ -0,0 +1,25 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_wave_task.py
+@Time    : 2025/12/22 11:02:23
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Wave Task Configuration
+'''
+from robogauge.tasks.gauge import StairsForwardGaugeConfig, StairsBackwardGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2StairsForwardGaugeConfig(StairsForwardGaugeConfig):
+    class metrics(StairsForwardGaugeConfig.metrics):
+        class dof_limits(StairsForwardGaugeConfig.metrics.dof_limits):
+            enabled = True
+            soft_dof_limit_ratio = 0.7
+            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all
+
+class Go2StairsBackwardGaugeConfig(StairsBackwardGaugeConfig):
+    class metrics(StairsBackwardGaugeConfig.metrics):
+        class dof_limits(StairsBackwardGaugeConfig.metrics.dof_limits):
+            enabled = True
+            soft_dof_limit_ratio = 0.7
+            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all

robogauge/tasks/custom/go2/go2_stairs_up_task.py

@@ -1,18 +0,0 @@
-# -*- coding: utf-8 -*-
-'''
-@File    : go2_wave_task.py
-@Time    : 2025/12/22 11:02:23
-@Author  : wty-yy
-@Version : 1.0
-@Blog    : https://wty-yy.github.io/
-@Desc    : Go2 Wave Task Configuration
-'''
-from robogauge.tasks.gauge import StairsUpGaugeConfig
-from robogauge.tasks.simulator.mujoco_config import MujocoConfig
-
-class Go2StairsUpGaugeConfig(StairsUpGaugeConfig):
-    class metrics(StairsUpGaugeConfig.metrics):
-        class dof_limits(StairsUpGaugeConfig.metrics.dof_limits):
-            enabled = True
-            soft_dof_limit_ratio = 0.7
-            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all