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

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