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v0.1.16; Add StressPipeline

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wty-yy
2025-12-26 14:47:39 +08:00
parent 9d9d83ed9f
commit 65490fe591
31 changed files with 318 additions and 122 deletions
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27
robogauge/tasks/__init__.py
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@@ -1,19 +1,24 @@
from robogauge.utils.task_register import task_register
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig
from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig, Go2TerrainConfig, Go2MoETerrainConfig
from robogauge.tasks.pipeline import BasePipeline
from robogauge.tasks.gauge import BaseGaugeConfig
from robogauge.tasks.custom.go2 import *
# Register tasks: Task name format '<robot_model>.<terrain>'
task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
task_register.register('go2_moe_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
task_register.register('go2_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2Config)
task_register.register('go2_moe_slope', BasePipeline, Go2SlopeMujocoConfig, Go2SlopeGaugeConfig, Go2MoEConfig)
task_register.register('go2_wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2Config)
task_register.register('go2_moe_wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2MoEConfig)
task_register.register('go2_stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2Config)
task_register.register('go2_moe_stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2MoEConfig)
task_register.register('go2_stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2Config)
task_register.register('go2_moe_stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2MoEConfig)
# Go2 MLP
task_register.register('go2.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
task_register.register('go2.slope', BasePipeline, MujocoConfig, Go2SlopeGaugeConfig, 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)
# 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.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)