v1.1.7; Add go2 lab eval; Add server client connection checker

2026-05-18 22:30:04 +08:00
parent 01b761b4f3
commit fb607670d1
4 changed files with 98 additions and 9 deletions
--- a/robogauge/tasks/robots/go2/go2_lab_config.py
+++ b/robogauge/tasks/robots/go2/go2_lab_config.py
@@ -14,6 +14,7 @@ class Go2LabConfig(Go2Config):
    """Go2 Lab robot configuration aligned with RobotLab observation scaling."""

    class control(Go2Config.control):
+        p_gains = [25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0, 25.0]  # [N*m/rad]
        class scales(Go2Config.control.scales):
            # RobotLab policy command observation uses unit scale.
            cmd = [1.0, 1.0, 1.0]