v0.1.12 add all slope levels; plot radar with bar

robogauge/tasks/custom/go2/__init__.py

@@ -0,0 +1,10 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : __init__.py
+@Time    : 2025/12/21 17:10:59
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+'''
+from .go2_flat_task import Go2FlatGaugeConfig
+from .go2_slope_task import Go2SlopeGaugeConfig, Go2SlopeMujocoConfig

robogauge/tasks/custom/go2/go2_flat_task.py

@@ -37,24 +37,3 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
             ang_vel_yaw = 1.5  # +/- rad/s
             max_cmd_duration = 10.0  # [s] maximum duration to reach the target position
             reach_threshold = 0.1  # [m] distance threshold to consider the target reached
-
-class Go2FlatConfig(Go2Config):
-    class commands(Go2Config.commands):
-        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 = [-2.0, 2.0]  # min max [rad/s]
-
-class Go2MoEFlatConfig(Go2MoEConfig):
-    class commands(Go2Config.commands):
-        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 = [-2.0, 2.0]  # min max [rad/s]
-
-    class control(Go2Config.control):
-        model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
-        # model_path = "/home/xfy/Coding/kaiwu2025/rob_finals/sim2real/models/v6-2_106503/kaiwu_script_v6-2_106503.pt"
-
-class Go2MoEFlatMujocoConfig(MujocoConfig):
-    class domain_rand(MujocoConfig.domain_rand):
-        base_mass = 0.0
-        friction = 1.0

robogauge/tasks/custom/go2/go2_slope_task.py

@@ -0,0 +1,24 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_slope_task.py
+@Time    : 2025/12/21 17:06:27
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Slope Task Configuration
+'''
+from robogauge.tasks.robots import Go2Config, Go2MoEConfig
+from robogauge.tasks.gauge import SlopeGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2SlopeGaugeConfig(SlopeGaugeConfig):
+    class metrics(SlopeGaugeConfig.metrics):
+        class dof_limits(SlopeGaugeConfig.metrics.dof_limits):
+            enabled = True
+            soft_dof_limit_ratio = 0.7
+            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all
+
+class Go2SlopeMujocoConfig(MujocoConfig):
+    class domain_rand(MujocoConfig.domain_rand):
+        action_delay = True
+        friction = 2.4