v0.1.15; add stairs_up/down

robogauge/tasks/custom/go2/go2_stairs_up_task.py

@@ -0,0 +1,19 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_wave_task.py
+@Time    : 2025/12/22 11:02:23
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Wave Task Configuration
+'''
+from robogauge.tasks.robots import Go2Config, Go2MoEConfig
+from robogauge.tasks.gauge import StairsUpGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2StairsUpGaugeConfig(StairsUpGaugeConfig):
+    class metrics(StairsUpGaugeConfig.metrics):
+        class dof_limits(StairsUpGaugeConfig.metrics.dof_limits):
+            enabled = True
+            soft_dof_limit_ratio = 0.7
+            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all