v0.1.7

UPDATE.md

@@ -1,4 +1,7 @@
 # UPDATE
+## 20251205
+### v0.1.7
+1. 加入moe模型的测试, 及moe模型, 平地的指令最大范围开到2
 ## 20251202
 ### v0.1.6
 1. 加入新目标`diagonal_velocity`, 记录的信息中仅保留总goal的metrics信息, metrics加入@25, @50两个后25%和50%的平均值

robogauge/tasks/__init__.py

@@ -1,10 +1,11 @@
 from robogauge.utils.task_register import task_register
 from robogauge.tasks.simulator.mujoco_config import MujocoConfig
-from robogauge.tasks.robots import RobotConfig, Go2Config
+from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig
 from robogauge.tasks.pipeline import BasePipeline
 from robogauge.tasks.gauge import BaseGaugeConfig
 
-from robogauge.tasks.custom.go2_flat_task import Go2FlatGaugeConfig
+from robogauge.tasks.custom.go2_flat_task import Go2FlatGaugeConfig, Go2FlatConfig, Go2MoEFlatConfig
 
 task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
-task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
+task_register.register('go2_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2FlatConfig)
+task_register.register('go2_moe_flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEFlatConfig)

robogauge/tasks/custom/go2_flat_task.py

@@ -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"

robogauge/tasks/pipeline/base_pipeline.py

@@ -12,7 +12,9 @@ from pathlib import Path
 
 from robogauge.utils.logger import logger
 from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig
-from robogauge.tasks.robots import BaseRobot, RobotConfig, Go2Config, Go2
+from robogauge.tasks.robots import (
+    BaseRobot, RobotConfig, Go2Config, Go2, Go2MoEConfig, Go2MoE
+)
 from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
 from robogauge.utils.helpers import class_to_dict
 

robogauge/tasks/robots/__init__.py

@@ -2,3 +2,5 @@ from .base_robot_config import RobotConfig
 from .base_robot import BaseRobot
 from .go2.go2_config import Go2Config
 from .go2.go2 import Go2
+from .go2.go2_moe_config import Go2MoEConfig
+from .go2.go2_moe import Go2MoE

robogauge/tasks/robots/go2/go2_moe.py

@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_moe.py
+@Time    : 2025/12/05 17:29:16
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : None
+'''
+import torch
+import numpy as np
+
+from robogauge.tasks.robots.base_robot import BaseRobot, get_projected_gravity
+from robogauge.tasks.robots.go2.go2_config import Go2Config
+from robogauge.tasks.robots.go2.go2 import Go2
+from robogauge.tasks.simulator.sim_data import SimData
+from robogauge.tasks.gauge.goal_data import GoalData
+from robogauge.utils.logger import logger
+
+class Go2MoE(Go2):
+    def get_action(self, obs: np.ndarray):
+        obs_tensor = torch.tensor(obs, dtype=torch.float32).unsqueeze(0).to(self.device)
+        action, weights = self.model(obs_tensor)
+        action = action.detach().cpu().numpy().squeeze(0)[self.model2mj_idx]
+        weights = weights.detach().cpu().numpy().squeeze(0)
+        self.last_action = action
+        target_dof_pos = action * self.action_scale + self.default_dof_pos
+        return target_dof_pos, self.p_gains, self.d_gains, self.control_type

robogauge/tasks/robots/go2/go2_moe_config.py

@@ -0,0 +1,16 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_moe_config.py
+@Time    : 2025/12/05 17:32:27
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : None
+'''
+from robogauge.tasks.robots.go2.go2_config import Go2Config
+
+class Go2MoEConfig(Go2Config):
+    robot_class = 'Go2MoE'
+
+    class control(Go2Config.control):
+        model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"