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v0.1.10

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wty-yy
2025-12-18 23:14:18 +08:00
parent 1e1a04b4c0
commit 939dc69b7e
25 changed files with 411 additions and 50 deletions
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21
robogauge/tasks/custom/go2_flat_task.py
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@@ -1,3 +1,12 @@
# -*- coding: utf-8 -*-
'''
@File : go2_flat_task.py
@Time : 2025/12/18 20:19:25
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Go2 Flat Task Configuration
'''
from robogauge.tasks.robots import Go2Config, Go2MoEConfig
from robogauge.tasks.gauge import FlatGaugeConfig
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
@@ -22,15 +31,15 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
class Go2FlatConfig(Go2Config):
class commands(Go2Config.commands):
lin_vel_x = [-2.0, 2.0] # min max [m/s]
lin_vel_y = [-2.0, 2.0] # min max [m/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
lin_vel_x = [-1.8, 1.8] # min max [m/s]
lin_vel_y = [-1.8, 1.8] # min max [m/s]
ang_vel_yaw = [-1.8, 1.8] # min max [rad/s]
class Go2MoEFlatConfig(Go2MoEConfig):
class commands(Go2Config.commands):
lin_vel_x = [-2.0, 2.0] # min max [m/s]
lin_vel_y = [-2.0, 2.0] # min max [m/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
lin_vel_x = [-1.8, 1.8] # min max [m/s]
lin_vel_y = [-1.8, 1.8] # min max [m/s]
ang_vel_yaw = [-1.8, 1.8] # min max [rad/s]
class control(Go2Config.control):
# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"