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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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4
robogauge/tasks/robots/__init__.py
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@@ -1,6 +1,6 @@
from .base_robot_config import RobotConfig
from .base_robot import BaseRobot
from .go2.go2_config import Go2Config
from .go2.go2_config import Go2Config, Go2TerrainConfig
from .go2.go2 import Go2
from .go2.go2_moe_config import Go2MoEConfig
from .go2.go2_moe_config import Go2MoEConfig, Go2MoETerrainConfig
from .go2.go2_moe import Go2MoE

8
robogauge/tasks/robots/go2/go2_config.py
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@@ -48,9 +48,15 @@ class Go2Config(RobotConfig):
class commands(RobotConfig.commands):
lin_vel_x = [-2.0, 2.0] # min max [m/s]
lin_vel_y = [-2.0, 2.0] # min max [m/s]
lin_vel_y = [-1.0, 1.0] # min max [m/s]
lin_vel_z = None # min max [m/s]
ang_vel_roll = None # min max [rad/s]
ang_vel_pitch = None # min max [rad/s]
ang_vel_yaw = [-2, 2] # min max [rad/s]
class Go2TerrainConfig(Go2Config):
""" Go2 Robot Configuration for Terrain Tasks (wave, stairs up/down, slope, obstacles) """
class commands(Go2Config.commands):
lin_vel_x = [-1.0, 1.0] # min max [m/s]
lin_vel_y = [-1.0, 1.0] # min max [m/s]
ang_vel_yaw = [-1.5, 1.5] # min max [rad/s]

7
robogauge/tasks/robots/go2/go2_moe_config.py
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@@ -14,3 +14,10 @@ class Go2MoEConfig(Go2Config):
class control(Go2Config.control):
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
class Go2MoETerrainConfig(Go2MoEConfig):
""" Go2 MoE Robot Configuration for Terrain Tasks (wave, stairs up/down, slope, obstacles) """
class commands(Go2MoEConfig.commands):
lin_vel_x = [-1.0, 1.0] # min max [m/s]
lin_vel_y = [-1.0, 1.0] # min max [m/s]
ang_vel_yaw = [-1.5, 1.5] # min max [rad/s]