v0.1.13 finish all goals eval (even crash)

robogauge/tasks/robots/base_robot.py

@@ -45,3 +45,6 @@ class BaseRobot:
         action = np.zeros(self.num_action, dtype=np.float32)
         return action, self.p_gains, self.d_gains, self.control_type
 
+    def reset(self):
+        """ Reset model state/history if needed """
+        pass

robogauge/tasks/robots/go2/go2.py

@@ -53,6 +53,10 @@ class Go2(BaseRobot):
             raise NotImplementedError(f"Goal type '{goal_data.goal_type}' not implemented in Go2 robot.")
         return obs
     
+    def reset(self):
+        self.last_action = np.zeros(self.num_action, dtype=np.float32)
+        self.model.reset()  # reset history
+
     def get_action(self, obs: np.ndarray):
         obs_tensor = torch.tensor(obs, dtype=torch.float32).unsqueeze(0).to(self.device)
         action = self.model(obs_tensor).detach().cpu().numpy().squeeze(0)[self.model2mj_idx]

robogauge/tasks/robots/go2/go2_config.py

@@ -48,7 +48,7 @@ class Go2Config(RobotConfig):
 
     class commands(RobotConfig.commands):
         lin_vel_x = [-2.0, 2.0]  # min max [m/s]
-        lin_vel_y = [-1.0, 1.0]  # min max [m/s]
+        lin_vel_y = [-2.0, 2.0]  # 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]