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v0.1.7

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wty-yy
2025-12-05 17:59:22 +08:00
parent 9f7db42f9f
commit f55e49e682
8 changed files with 73 additions and 5 deletions
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18
robogauge/tasks/custom/go2_flat_task.py
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@@ -1,4 +1,4 @@
from robogauge.tasks.robots import Go2Config
from robogauge.tasks.robots import Go2Config, Go2MoEConfig
from robogauge.tasks.gauge import FlatGaugeConfig
class Go2FlatGaugeConfig(FlatGaugeConfig):
@@ -16,3 +16,19 @@ class Go2FlatGaugeConfig(FlatGaugeConfig):
class diagonal_velocity(FlatGaugeConfig.goals.diagonal_velocity):
enabled = True
cmd_duration = 6.0
class Go2FlatConfig(Go2Config):
class commands(Go2Config.commands):
lin_vel_x = [-2.0, 2.0] # min max [m/s]
lin_vel_y = [-2.0, 2.0] # min max [m/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
class Go2MoEFlatConfig(Go2MoEConfig):
class commands(Go2Config.commands):
lin_vel_x = [-2.0, 2.0] # min max [m/s]
lin_vel_y = [-2.0, 2.0] # min max [m/s]
ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
class control(Go2Config.control):
# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
model_path = "/home/xfy/Coding/kaiwu2025/rob_finals/sim2real/models/v6-2_106503/kaiwu_script_v6-2_106503.pt"