v1.0.0

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