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

robogauge/tasks/custom/go2/__init__.py

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+# -*- 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

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+# -*- 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
+
+class Go2FlatGaugeConfig(FlatGaugeConfig):
+    class metrics(FlatGaugeConfig.metrics):
+        class dof_limits(FlatGaugeConfig.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 goals(FlatGaugeConfig.goals):
+        class max_velocity(FlatGaugeConfig.goals.max_velocity):
+            enabled = True
+            move_duration = 5.0
+            end_stance = True
+            stance_duration = 2.0
+        
+        class diagonal_velocity(FlatGaugeConfig.goals.diagonal_velocity):
+            enabled = True
+            cmd_duration = 6.0
+
+        class target_pos_velocity(FlatGaugeConfig.goals.target_pos_velocity):  # goal to reach a target position by velocity command, config target at assets.target_pos
+            enabled = True
+            target_pos = [2, 2, 0]  # x y z [m], target position in the environment, used for target position goal
+            lin_vel_x = 1.0  # +/- m/s
+            lin_vel_y = 1.0  # +/- m/s
+            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

robogauge/tasks/custom/go2/go2_slope_task.py

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+# -*- 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