v0.1.17

robogauge/tasks/custom/go2/__init__.py

@@ -11,3 +11,4 @@ from .go2_slope_task import Go2SlopeGaugeConfig
 from .go2_wave_task import Go2WaveGaugeConfig
 from .go2_stairs_up_task import Go2StairsUpGaugeConfig
 from .go2_stairs_down_task import Go2StairsDownGaugeConfig
+from .go2_obstacle_task import Go2ObstacleGaugeConfig

robogauge/tasks/custom/go2/go2_obstacle_task.py

@@ -0,0 +1,19 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_obstacle_task.py
+@Time    : 2025/12/27 14:32:22
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Obstacle Task Configuration
+'''
+from robogauge.tasks.robots import Go2Config, Go2MoEConfig
+from robogauge.tasks.gauge import ObstacleGaugeConfig
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class Go2ObstacleGaugeConfig(ObstacleGaugeConfig):
+    class metrics(ObstacleGaugeConfig.metrics):
+        class dof_limits(ObstacleGaugeConfig.metrics.dof_limits):
+            enabled = True
+            soft_dof_limit_ratio = 0.7
+            dof_names = ['hip', 'thigh']  # List of DOF names to monitor, None for all