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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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15
robogauge/tasks/custom/go2/go2_slope_task.py
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@@ -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