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update lab

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This commit is contained in:
youyuan.chen
2026-07-26 19:11:42 +08:00
parent 217ef2247d
commit 82fbc97e14
13 changed files with 203 additions and 26 deletions
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11
robogauge/tasks/__init__.py
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@@ -10,6 +10,8 @@ from robogauge.tasks.robots import (
Go2MoETerrainConfig,
Go1MoEConfig,
Go1MoETerrainConfig,
Go1LabConfig,
Go1LabTerrainConfig,
)
from robogauge.tasks.pipeline import BasePipeline
from robogauge.tasks.gauge import BaseGaugeConfig
@@ -46,6 +48,15 @@ task_register.register('go1_moe.stairs_fd', BasePipeline, MujocoConfig, Go2Stair
task_register.register('go1_moe.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go1MoETerrainConfig)
task_register.register('go1_moe.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go1MoETerrainConfig)
# Go1 RobotLab
task_register.register('go1_lab.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go1LabConfig)
task_register.register('go1_lab.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go1LabTerrainConfig)
task_register.register('go1_lab.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go1LabTerrainConfig)
task_register.register('go1_lab.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go1LabTerrainConfig)
task_register.register('go1_lab.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go1LabTerrainConfig)
task_register.register('go1_lab.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go1LabTerrainConfig)
task_register.register('go1_lab.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go1LabTerrainConfig)
# Go2 Lab
task_register.register('go2_lab.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2LabConfig)
task_register.register('go2_lab.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2LabTerrainConfig)

2
robogauge/tasks/pipeline/base_pipeline.py
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@@ -17,7 +17,7 @@ from copy import deepcopy
from robogauge.utils.logger import logger
from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig, SimData
from robogauge.tasks.robots import (
BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE, Go1MoE
BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE, Go1, Go1MoE
)
from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal

1
robogauge/tasks/robots/__init__.py
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@@ -6,3 +6,4 @@ from .go2.go2 import Go2
from .go2.go2_moe_config import Go2MoEConfig, Go2MoETerrainConfig
from .go2.go2_moe import Go2MoE
from .go1 import Go1Config, Go1TerrainConfig, Go1, Go1MoEConfig, Go1MoETerrainConfig, Go1MoE
from .go1.go1_lab_config import Go1LabConfig, Go1LabTerrainConfig

18
robogauge/tasks/robots/go1/go1_lab_config.py Normal file
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@@ -0,0 +1,18 @@
# -*- coding: utf-8 -*-
"""Go1 RobotLab policy configuration for RoboGauge."""
from robogauge.tasks.robots.go1.go1_config import Go1Config, Go1TerrainConfig
class Go1LabConfig(Go1Config):
"""Go1 configuration aligned with RobotLab observation scaling."""
class control(Go1Config.control):
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go1/policy_robotlab_3500.pt"
class scales(Go1Config.control.scales):
cmd = [1.0, 1.0, 1.0]
class Go1LabTerrainConfig(Go1LabConfig, Go1TerrainConfig):
"""Go1 RobotLab policy configuration for terrain tasks."""