cyy/RoboGauge
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v1.1.0; fix metrics bugs

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This commit is contained in:
wty-yy
2026-01-10 02:11:44 +08:00
parent 0f2dc29dfc
commit a82f3d8930
10 changed files with 31 additions and 14 deletions
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2
robogauge/tasks/custom/go2/go2_flat_task.py
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@@ -14,7 +14,7 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
class metrics(FlatGaugeConfig.metrics):
class dof_limits(FlatGaugeConfig.metrics.dof_limits):
enabled = True
soft_dof_limit_ratio = 0.7
soft_dof_limit_ratio = 0.4
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all
class goals(FlatGaugeConfig.goals):

2
robogauge/tasks/custom/go2/go2_obstacle_task.py
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@@ -14,5 +14,5 @@ class Go2ObstacleGaugeConfig(ObstacleGaugeConfig):
class metrics(ObstacleGaugeConfig.metrics):
class dof_limits(ObstacleGaugeConfig.metrics.dof_limits):
enabled = True
soft_dof_limit_ratio = 0.7
soft_dof_limit_ratio = 0.4
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all

4
robogauge/tasks/custom/go2/go2_slope_task.py
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@@ -14,12 +14,12 @@ class Go2SlopeForwardGaugeConfig(SlopeForwardGaugeConfig):
class metrics(SlopeForwardGaugeConfig.metrics):
class dof_limits(SlopeForwardGaugeConfig.metrics.dof_limits):
enabled = True
soft_dof_limit_ratio = 0.7
soft_dof_limit_ratio = 0.4
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all
class Go2SlopeBackwardGaugeConfig(SlopeBackwardGaugeConfig):
class metrics(SlopeBackwardGaugeConfig.metrics):
class dof_limits(SlopeBackwardGaugeConfig.metrics.dof_limits):
enabled = True
soft_dof_limit_ratio = 0.7
soft_dof_limit_ratio = 0.4
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all

4
robogauge/tasks/custom/go2/go2_stairs_task.py
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@@ -14,12 +14,12 @@ class Go2StairsForwardGaugeConfig(StairsForwardGaugeConfig):
class metrics(StairsForwardGaugeConfig.metrics):
class dof_limits(StairsForwardGaugeConfig.metrics.dof_limits):
enabled = True
soft_dof_limit_ratio = 0.7
soft_dof_limit_ratio = 0.4
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all
class Go2StairsBackwardGaugeConfig(StairsBackwardGaugeConfig):
class metrics(StairsBackwardGaugeConfig.metrics):
class dof_limits(StairsBackwardGaugeConfig.metrics.dof_limits):
enabled = True
soft_dof_limit_ratio = 0.7
soft_dof_limit_ratio = 0.4
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all

2
robogauge/tasks/custom/go2/go2_wave_task.py
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@@ -14,5 +14,5 @@ class Go2WaveGaugeConfig(WaveGaugeConfig):
class metrics(WaveGaugeConfig.metrics):
class dof_limits(WaveGaugeConfig.metrics.dof_limits):
enabled = True
soft_dof_limit_ratio = 0.7
soft_dof_limit_ratio = 0.4
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all