v0.1.5

robogauge/tasks/custom/go2_flat_task.py

@@ -0,0 +1,14 @@
+from robogauge.tasks.robots import Go2Config
+from robogauge.tasks.gauge import FlatGaugeConfig
+
+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
+            cmd_duration = 5.0