v0.1.2

2025-11-27 16:04:14 +08:00
parent 14ce318bdd
commit fc7e184741
48 changed files with 759751 additions and 2 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,10 @@
-mytest
+# Debug
+mytest*
+debug*
+
+# Python
+*.egg-info
+__pycache__/
+
+# Logger
+logs/
--- a/2
+++ b/2
@@ -1,6 +1,6 @@
 MIT License

-Copyright (c) 2025 wty
+Copyright (c) 2025 tianyang wu

 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
--- a/README.md
+++ b/README.md
@@ -12,6 +12,11 @@
 | - | - | - |
 | Unitree go2 | 四足 | ✅ |

+## 目录结构
+- `robogauge/scripts`: 启动指标测试程序
+- `robogauge/tasks`: 定义测试任务
+- `robogauge/utils`: 常用工具
+
 ## 指标
 指标的计算方法是通过在环境中发送固定指令及持续时长, 通过Mujoco获取所需参数并计算.

--- a/UPDATE.md
+++ b/UPDATE.md
@@ -0,0 +1,10 @@
+# UPDATE
+
+## 20251127
+### v0.1.2
+1. 修改logger
+
+## 20251124-25
+### v0.1.1
+1. 完成初始化
+2. 架构设计
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=61.0", "wheel"]
+build-backend = "setuptools.build_meta"
--- a/robogauge/init.py
+++ b/robogauge/init.py
@@ -0,0 +1,4 @@
+from pathlib import Path
+
+__version__ = "0.1.0"
+ROBOGAUGE_ROOT_DIR = str(Path(__file__).parent)
--- a/robogauge/resources/models/go2/go2_cts_83501.pt
+++ b/robogauge/resources/models/go2/go2_cts_83501.pt
--- a/robogauge/resources/robots/go2/assets/base_0.obj
+++ b/robogauge/resources/robots/go2/assets/base_0.obj
--- a/robogauge/resources/robots/go2/assets/base_1.obj
+++ b/robogauge/resources/robots/go2/assets/base_1.obj
--- a/robogauge/resources/robots/go2/assets/base_2.obj
+++ b/robogauge/resources/robots/go2/assets/base_2.obj
--- a/robogauge/resources/robots/go2/assets/base_3.obj
+++ b/robogauge/resources/robots/go2/assets/base_3.obj
--- a/robogauge/resources/robots/go2/assets/base_4.obj
+++ b/robogauge/resources/robots/go2/assets/base_4.obj
--- a/robogauge/resources/robots/go2/assets/calf_0.obj
+++ b/robogauge/resources/robots/go2/assets/calf_0.obj
--- a/robogauge/resources/robots/go2/assets/calf_1.obj
+++ b/robogauge/resources/robots/go2/assets/calf_1.obj
--- a/robogauge/resources/robots/go2/assets/calf_mirror_0.obj
+++ b/robogauge/resources/robots/go2/assets/calf_mirror_0.obj
--- a/robogauge/resources/robots/go2/assets/calf_mirror_1.obj
+++ b/robogauge/resources/robots/go2/assets/calf_mirror_1.obj
--- a/robogauge/resources/robots/go2/assets/foot.obj
+++ b/robogauge/resources/robots/go2/assets/foot.obj
--- a/robogauge/resources/robots/go2/assets/hip_0.obj
+++ b/robogauge/resources/robots/go2/assets/hip_0.obj
--- a/robogauge/resources/robots/go2/assets/hip_1.obj
+++ b/robogauge/resources/robots/go2/assets/hip_1.obj
--- a/robogauge/resources/robots/go2/assets/thigh_0.obj
+++ b/robogauge/resources/robots/go2/assets/thigh_0.obj
--- a/robogauge/resources/robots/go2/assets/thigh_1.obj
+++ b/robogauge/resources/robots/go2/assets/thigh_1.obj
--- a/robogauge/resources/robots/go2/assets/thigh_mirror_0.obj
+++ b/robogauge/resources/robots/go2/assets/thigh_mirror_0.obj
--- a/robogauge/resources/robots/go2/assets/thigh_mirror_1.obj
+++ b/robogauge/resources/robots/go2/assets/thigh_mirror_1.obj
--- a/robogauge/resources/robots/go2/go2.xml
+++ b/robogauge/resources/robots/go2/go2.xml
@@ -0,0 +1,291 @@
+<mujoco model="go2">
+  <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+  <option cone="elliptic" impratio="100" />
+
+  <default>
+    <default class="go2">
+      <geom friction="0.4" margin="0.001" condim="1"/>
+      <joint axis="0 1 0" damping="0.1" armature="0.01" frictionloss="0.2"/>
+      <motor ctrlrange="-23.7 23.7"/>
+      <default class="abduction">
+        <joint axis="1 0 0" range="-1.0472 1.0472"/>
+      </default>
+      <default class="hip">
+        <default class="front_hip">
+          <joint range="-1.5708 3.4907"/>
+        </default>
+        <default class="back_hip">
+          <joint range="-0.5236 4.5379"/>
+        </default>
+      </default>
+      <default class="knee">
+        <joint range="-2.7227 -0.83776"/>
+        <motor ctrlrange="-45.43 45.43"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+        <default class="foot">
+          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" condim="6"
+            friction="0.4 0.02 0.01"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="metal" rgba=".9 .95 .95 1" />
+    <material name="black" rgba="0 0 0 1" />
+    <material name="white" rgba="1 1 1 1" />
+    <!-- <material name="white" rgba="1 1 0 1" /> -->
+    <material name="gray" rgba="0.671705 0.692426 0.774270 1" />
+
+    <mesh file="base_0.obj" />
+    <mesh file="base_1.obj" />
+    <mesh file="base_2.obj" />
+    <mesh file="base_3.obj" />
+    <mesh file="base_4.obj" />
+    <mesh file="hip_0.obj" />
+    <mesh file="hip_1.obj" />
+    <mesh file="thigh_0.obj" />
+    <mesh file="thigh_1.obj" />
+    <mesh file="thigh_mirror_0.obj" />
+    <mesh file="thigh_mirror_1.obj" />
+    <mesh file="calf_0.obj" />
+    <mesh file="calf_1.obj" />
+    <mesh file="calf_mirror_0.obj" />
+    <mesh file="calf_mirror_1.obj" />
+    <mesh file="foot.obj" />
+  </asset>
+
+  <worldbody>
+    <body name="base_link" pos="0 0 0.445" childclass="go2">
+    <!-- <body name="base_link" pos="-5 1.2 0.445" childclass="go2"> -->
+      <inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719"
+        mass="6.921"
+        diaginertia="0.107027 0.0980771 0.0244531" />
+      <freejoint />
+      <geom mesh="base_0" material="black" class="visual" />
+      <geom mesh="base_1" material="black" class="visual" />
+      <geom mesh="base_2" material="black" class="visual" />
+      <geom mesh="base_3" material="white" class="visual" />
+      <geom mesh="base_4" material="gray" class="visual" />
+      <geom size="0.1881 0.04675 0.057" type="box" class="collision" />
+      <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" />
+      <geom size="0.047" pos="0.293 0 -0.06" class="collision" />
+      <site name="imu" pos="-0.02557 0 0.04232" />
+      <body name="FL_hip" pos="0.1934 0.0465 0">
+        <inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237"
+          mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967" />
+        <joint name="FL_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" />
+        <geom mesh="hip_1" material="gray" class="visual" />
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" />
+        <body name="FL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623"
+            mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787" />
+          <joint name="FL_thigh_joint" class="front_hip" />
+          <geom mesh="thigh_0" material="metal" class="visual" />
+          <geom mesh="thigh_1" material="gray" class="visual" />
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
+            type="box" class="collision" />
+          <body name="FL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417"
+              quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
+            <joint name="FL_calf_joint" class="knee" />
+            <geom mesh="calf_0" material="gray" class="visual" />
+            <geom mesh="calf_1" material="black" class="visual" />
+            <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0"
+              type="cylinder" class="collision" />
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
+              type="cylinder" class="collision" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+            <geom name="FL" class="foot" />
+            <body name="FL_foot" pos="0 0 -0.213" />
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.1934 -0.0465 0">
+        <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014"
+          mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967" />
+        <joint name="FR_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" />
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" />
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
+          class="collision" />
+        <body name="FR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533"
+            mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787" />
+          <joint name="FR_thigh_joint" class="front_hip" />
+          <geom mesh="thigh_mirror_0" material="metal" class="visual" />
+          <geom mesh="thigh_mirror_1" material="gray" class="visual" />
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
+            type="box" class="collision" />
+          <body name="FR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417"
+              quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
+            <joint name="FR_calf_joint" class="knee" />
+            <geom mesh="calf_mirror_0" material="gray" class="visual" />
+            <geom mesh="calf_mirror_1" material="black" class="visual" />
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
+              type="cylinder" class="collision" />
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
+              type="cylinder" class="collision" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+            <geom name="FR" class="foot" />
+            <body name="FR_foot" pos="0 0 -0.213" />
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.1934 0.0465 0">
+        <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245"
+          mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967" />
+        <joint name="RL_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" />
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" />
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
+          class="collision" />
+        <body name="RL_thigh" pos="0 0.0955 0">
+          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623"
+            mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787" />
+          <joint name="RL_thigh_joint" class="back_hip" />
+          <geom mesh="thigh_0" material="metal" class="visual" />
+          <geom mesh="thigh_1" material="gray" class="visual" />
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
+            type="box" class="collision" />
+          <body name="RL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 -0.000622121 -0.141417"
+              quat="0.710672 0.00154099 -0.00450087 0.703508"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
+            <joint name="RL_calf_joint" class="knee" />
+            <geom mesh="calf_0" material="gray" class="visual" />
+            <geom mesh="calf_1" material="black" class="visual" />
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
+              type="cylinder" class="collision" />
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
+              type="cylinder" class="collision" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+            <geom name="RL" class="foot" />
+            <body name="RL_foot" pos="0 0 -0.213" />
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.1934 -0.0465 0">
+        <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462"
+          mass="0.678"
+          diaginertia="0.00088403 0.000596003 0.000479967" />
+        <joint name="RR_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual"
+          quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
+        <geom mesh="hip_1" material="gray" class="visual"
+          quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
+          class="collision" />
+        <body name="RR_thigh" pos="0 -0.0955 0">
+          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533"
+            mass="1.152"
+            diaginertia="0.00594973 0.00584149 0.000878787" />
+          <joint name="RR_thigh_joint" class="back_hip" />
+          <geom mesh="thigh_mirror_0" material="metal" class="visual" />
+          <geom mesh="thigh_mirror_1" material="gray" class="visual" />
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
+            type="box" class="collision" />
+          <body name="RR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00629595 0.000622121 -0.141417"
+              quat="0.703508 -0.00450087 0.00154099 0.710672"
+              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
+            <joint name="RR_calf_joint" class="knee" />
+            <geom mesh="calf_mirror_0" material="gray" class="visual" />
+            <geom mesh="calf_mirror_1" material="black" class="visual" />
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
+              type="cylinder" class="collision" />
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
+              type="cylinder" class="collision" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+            <geom name="RR" class="foot" />
+            <body name="RR_foot" pos="0 0 -0.213" />
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
+    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
+    <motor class="knee" name="FR_calf" joint="FR_calf_joint" />
+    <motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
+    <motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
+    <motor class="knee" name="FL_calf" joint="FL_calf_joint" />
+    <motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
+    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
+    <motor class="knee" name="RR_calf" joint="RR_calf_joint" />
+    <motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
+    <motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
+    <motor class="knee" name="RL_calf" joint="RL_calf_joint" />
+  </actuator>
+
+  <sensor>
+    <jointpos name="FR_hip_pos" joint="FR_hip_joint" />
+    <jointpos name="FR_thigh_pos" joint="FR_thigh_joint" />
+    <jointpos name="FR_calf_pos" joint="FR_calf_joint" />
+    <jointpos name="FL_hip_pos" joint="FL_hip_joint" />
+    <jointpos name="FL_thigh_pos" joint="FL_thigh_joint" />
+    <jointpos name="FL_calf_pos" joint="FL_calf_joint" />
+    <jointpos name="RR_hip_pos" joint="RR_hip_joint" />
+    <jointpos name="RR_thigh_pos" joint="RR_thigh_joint" />
+    <jointpos name="RR_calf_pos" joint="RR_calf_joint" />
+    <jointpos name="RL_hip_pos" joint="RL_hip_joint" />
+    <jointpos name="RL_thigh_pos" joint="RL_thigh_joint" />
+    <jointpos name="RL_calf_pos" joint="RL_calf_joint" />
+
+    <jointvel name="FR_hip_vel" joint="FR_hip_joint" />
+    <jointvel name="FR_thigh_vel" joint="FR_thigh_joint" />
+    <jointvel name="FR_calf_vel" joint="FR_calf_joint" />
+    <jointvel name="FL_hip_vel" joint="FL_hip_joint" />
+    <jointvel name="FL_thigh_vel" joint="FL_thigh_joint" />
+    <jointvel name="FL_calf_vel" joint="FL_calf_joint" />
+    <jointvel name="RR_hip_vel" joint="RR_hip_joint" />
+    <jointvel name="RR_thigh_vel" joint="RR_thigh_joint" />
+    <jointvel name="RR_calf_vel" joint="RR_calf_joint" />
+    <jointvel name="RL_hip_vel" joint="RL_hip_joint" />
+    <jointvel name="RL_thigh_vel" joint="RL_thigh_joint" />
+    <jointvel name="RL_calf_vel" joint="RL_calf_joint" />
+
+    <jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" noise="0.01" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" />
+    <gyro name="imu_gyro" site="imu" />
+    <accelerometer name="imu_acc" site="imu" />
+    
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor>
+
+  <!-- <keyframe>
+    <key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"
+      ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" />
+  </keyframe> -->
+</mujoco>
--- a/robogauge/resources/terrains/flat.xml
+++ b/robogauge/resources/terrains/flat.xml
@@ -0,0 +1,22 @@
+<mujoco model="flat">
+  <statistic center="0 0 0.1" extent="0.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-130" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="sponge_mat" rgba="0.9 0.9 0.2 1" reflectance="0.1"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>
--- a/robogauge/scripts/run.py
+++ b/robogauge/scripts/run.py
@@ -0,0 +1,19 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : run.py
+@Time    : 2025/11/27 15:54:47
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Run Robogauge Pipeline
+'''
+from robogauge.tasks import *
+from robogauge.utils.task_register import task_register
+from robogauge.utils.helpers import parse_args
+from robogauge.utils.logger import logger
+
+if __name__ == '__main__':
+    args = parse_args()
+    logger.create(args.experiment_name)
+    pipeline: BasePipeline = task_register.make_pipeline(args.task_name, args=args)
+    pipeline.run()
--- a/robogauge/tasks/init.py
+++ b/robogauge/tasks/init.py
@@ -0,0 +1,7 @@
+from robogauge.utils.task_register import task_register
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+from robogauge.tasks.robots import RobotConfig
+from robogauge.tasks.pipeline import BasePipeline
+from robogauge.tasks.gauge import BaseGaugeConfig
+
+task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
--- a/robogauge/tasks/gauge/init.py
+++ b/robogauge/tasks/gauge/init.py
@@ -0,0 +1,4 @@
+from .base_gauge import BaseGauge
+from .base_gauge_config import BaseGaugeConfig
+from .flat.flat_gauge import FlatGauge
+from .flat.flat_gauge_config import FlatGaugeConfig
--- a/robogauge/tasks/gauge/base_gauge.py
+++ b/robogauge/tasks/gauge/base_gauge.py
@@ -0,0 +1,29 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : base_gauge.py
+@Time    : 2025/11/27 15:55:19
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Gauge for Robogauge
+'''
+from robogauge.tasks.robots.base_robot_config import RobotConfig
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class BaseGauge:
+    def __init__(self, cfg: BaseGaugeConfig):
+        self.cfg = cfg
+    
+    def is_reset(self) -> bool:
+        return False
+    
+    def is_done(self) -> bool:
+        return False
+    
+    def get_goal(self) -> dict:
+        goal = {}
+        return goal
+    
+    def update_metrics(self, sim_info: dict):
+        ...
+    
--- a/robogauge/tasks/gauge/base_gauge_config.py
+++ b/robogauge/tasks/gauge/base_gauge_config.py
@@ -0,0 +1,26 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : base_gauge_config.py
+@Time    : 2025/11/27 15:55:11
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Gauge Configuration
+'''
+from robogauge.utils.config import Config
+
+class BaseGaugeConfig(Config):
+    gauge_class = 'BaseGauge'
+
+    class assets:
+        terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
+        terrain_spawn_xy = [0, 0]  # x y [m]
+
+    class metrics:
+        dof_limits = True
+    
+    class commands:
+        stance = True
+        max_lin_vel = True
+        diagonal_lin_vel = True
+    
--- a/robogauge/tasks/gauge/flat/flat_gauge.py
+++ b/robogauge/tasks/gauge/flat/flat_gauge.py
@@ -0,0 +1,13 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : flat_gauge.py
+@Time    : 2025/11/27 16:03:11
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Flat Gauge Implementation
+'''
+from robogauge.tasks.gauge.base_gauge import BaseGauge
+
+class FlatGauge(BaseGauge):
+    ...
--- a/robogauge/tasks/gauge/flat/flat_gauge_config.py
+++ b/robogauge/tasks/gauge/flat/flat_gauge_config.py
@@ -0,0 +1,13 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : flat_gauge_config.py
+@Time    : 2025/11/27 16:03:02
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Flat Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class FlatGaugeConfig(BaseGaugeConfig):
+    ...
--- a/robogauge/tasks/pipeline/init.py
+++ b/robogauge/tasks/pipeline/init.py
@@ -0,0 +1 @@
+from .base_pipeline import BasePipeline
--- a/robogauge/tasks/pipeline/base_pipeline.py
+++ b/robogauge/tasks/pipeline/base_pipeline.py
@@ -0,0 +1,58 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : base_pipeline.py
+@Time    : 2025/11/27 15:53:26
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Pipeline for Robogauge
+'''
+import traceback
+from robogauge.utils.logger import logger
+from robogauge.tasks.simulator import MujocoSimulator, MujocoConfig
+from robogauge.tasks.robots import BaseRobot, RobotConfig
+from robogauge.tasks.gauge import BaseGauge, BaseGaugeConfig
+
+class BasePipeline:
+    def __init__(self, 
+        simulator_cfg: MujocoConfig,
+        robot_cfg: RobotConfig,
+        gauge_cfg: BaseGaugeConfig
+    ):
+        self.simulator_cfg = simulator_cfg
+        self.robot_cfg = robot_cfg
+        self.gauge_cfg = gauge_cfg
+
+        self.sim: MujocoSimulator = eval(simulator_cfg.simulator_class)(simulator_cfg)
+        self.robot: BaseRobot = eval(robot_cfg.robot_class)(robot_cfg)
+        self.gauge: BaseGauge = eval(gauge_cfg.gauge_class)(gauge_cfg)
+    
+    def load(self):
+        self.sim.load(
+            self.gauge_cfg.assets.terrain_xml,
+            self.robot_cfg.assets.robot_xml,
+            self.gauge_cfg.assets.terrain_spawn_xy,
+            self.robot_cfg.assets.robot_spawn_height
+        )
+    
+    def run(self):
+        try:
+            self.load()
+            info = self.sim.step()
+            frame_skip = int(self.robot_cfg.control.control_dt / self.simulator_cfg.physics.simulation_dt)
+            logger.info(f"Sim FPS: {1.0 / self.simulator_cfg.physics.simulation_dt:.2f}, Control FPS: {1.0 / self.robot_cfg.control.control_dt:.2f}, Frame Skip: {frame_skip:d}")
+            logger.info("Starting pipeline...")
+            while not self.gauge.is_done():
+                goal = self.gauge.get_goal()
+                obs = self.robot.build_observation(info, goal)
+                action = self.robot.get_action(obs)
+                for _ in range(frame_skip):
+                    self.sim.apply_action(action)
+                    info = self.sim.step()
+                    self.gauge.update_metrics(info)
+                if self.gauge.is_reset():
+                    self.sim.reset()
+                    info = self.sim.step()
+        finally:
+            self.sim.close_viewer()
+            logger.info("Pipeline execution finished.")
--- a/robogauge/tasks/robots/init.py
+++ b/robogauge/tasks/robots/init.py
@@ -0,0 +1,4 @@
+from .base_robot_config import RobotConfig
+from .base_robot import BaseRobot
+# from .go2.go2_config import Go2Config
+# from .go2.go2_controller import Go2Controller
--- a/robogauge/tasks/robots/base_robot.py
+++ b/robogauge/tasks/robots/base_robot.py
@@ -0,0 +1,29 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : base_robot.py
+@Time    : 2025/11/27 15:53:57
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Robot Class
+'''
+import torch
+import numpy as np
+from robogauge.tasks.robots.base_robot_config import RobotConfig
+
+class BaseRobot:
+    def __init__(self, cfg: RobotConfig):
+        self.num_act = cfg.mdp.num_actions
+        self.num_obs = cfg.mdp.num_observations
+        self.model = None
+    
+    def load_model(self):
+        ...
+    
+    def build_observation(self, sim_info: dict, goal_info: dict) -> np.ndarray:
+        obs = np.zeros(self.num_obs)
+        return obs
+    
+    def get_action(self, obs) -> np.ndarray:
+        action = np.zeros_like(self.num_act)
+        return action
--- a/robogauge/tasks/robots/base_robot_config.py
+++ b/robogauge/tasks/robots/base_robot_config.py
@@ -0,0 +1,34 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : base_robot_config.py
+@Time    : 2025/11/27 15:53:47
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Robot Configuration
+'''
+from robogauge.utils.config import Config
+
+class RobotConfig(Config):
+    robot_class = 'BaseRobot'
+
+    class assets:
+        robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
+        robot_spawn_height = 0.1  # z [m]
+
+    class control:
+        torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_61500.pt"
+        control_dt = 0.02  # 50 Hz
+        action_scale = 0.25  # target pos = action_scale * action * default_pos
+        stiffness = 20.0  # [N*m/rad]
+        damping = 0.5  # [N*m*s/rad]
+    
+    class mdp:
+        num_observations = 46
+        num_actions = 12
+    
+    class commands:
+        lin_vel_x = [-1, 1]  # min max [m/s]
+        lin_vel_y = [-1, 1]  # min max [m/s]
+        ang_vel_yaw = [-1, 1]  # min max [rad/s]
+    
--- a/robogauge/tasks/robots/go2/go2.py
+++ b/robogauge/tasks/robots/go2/go2.py
--- a/robogauge/tasks/robots/go2/go2_config.py
+++ b/robogauge/tasks/robots/go2/go2_config.py
@@ -0,0 +1,20 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_config.py
+@Time    : 2025/11/27 16:03:27
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Robot Configuration
+'''
+from robogauge.tasks.robots import RobotConfig
+
+class Go2Config(RobotConfig):
+    class assets:
+        robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
+        robot_spawn_height = 0.1  # z [m]
+
+    class control:
+        control_dt = 0.02  # 50 Hz
+        action_scale = 0.25  # scale for normalized actions
+
--- a/robogauge/tasks/simulator/init.py
+++ b/robogauge/tasks/simulator/init.py
@@ -0,0 +1,2 @@
+from .mujoco_simulator import MujocoSimulator
+from .mujoco_config import MujocoConfig
--- a/robogauge/tasks/simulator/mujoco_config.py
+++ b/robogauge/tasks/simulator/mujoco_config.py
@@ -0,0 +1,25 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : mujoco_config.py
+@Time    : 2025/11/27 15:55:34
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Mujoco Simulator Configuration
+'''
+from robogauge.utils.config import Config
+
+class MujocoConfig(Config):
+    simulator_class = 'MujocoSimulator'
+
+    class physics:
+        simulation_dt = 0.005  # 200 Hz
+    
+    class viewer:
+        headless = False
+        block_rendering = True  # Whether to block rendering in the viewer loop.
+    
+    class render:
+        save_video = False
+        height = 480
+        width = 640
--- a/robogauge/tasks/simulator/mujoco_simulator.py
+++ b/robogauge/tasks/simulator/mujoco_simulator.py
@@ -0,0 +1,143 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : mujoco_simulator.py
+@Time    : 2025/11/27 15:54:20
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : None
+'''
+import mujoco
+import mujoco.viewer
+from dm_control import mjcf
+
+import time
+import imageio
+import numpy as np
+
+from robogauge.utils.logger import logger
+from robogauge.utils.helpers import pares_path
+from robogauge.tasks.simulator.mujoco_config import MujocoConfig
+
+class MujocoSimulator:
+    def __init__(self, sim_cfg: MujocoConfig):
+        self.cfg = sim_cfg
+        self.terrain_xml = None
+        self.robot_xml = None
+        self.terrain_spawn_xy = None
+        self.robot_spawn_height = None
+        self.viewer = None
+        self.renderer = None
+        self.vid_writer = None
+        self.vid_count = 0
+        self._pause = True
+    
+    def load(
+        self,
+        terrain_xml: str = None,
+        robot_xml: str = None,
+        terrain_spawn_xy: list = None,
+        robot_spawn_height: float = None,
+    ):
+        """ Load terrain and robot into the simulator, support re-loading. """
+        if terrain_xml is not None:
+            self.terrain_xml = pares_path(terrain_xml)
+        if robot_xml is not None:
+            self.robot_xml = pares_path(robot_xml)
+        if terrain_spawn_xy is not None:
+            self.terrain_spawn_xy = terrain_spawn_xy
+        if robot_spawn_height is not None:
+            self.robot_spawn_height = robot_spawn_height
+
+        terrain_xml = self.terrain_xml
+        robot_xml = self.robot_xml
+        terrain_spawn_xy = self.terrain_spawn_xy
+        robot_spawn_height = self.robot_spawn_height
+        if terrain_xml is None or robot_xml is None:
+            raise ValueError("Terrain and robot XML paths must be provided.")
+        
+        robot_mjcf = mjcf.from_path(robot_xml)
+        terrain_mjcf = mjcf.from_path(terrain_xml)
+        for j in robot_mjcf.find_all('joint'):
+            if j.tag == 'freejoint':
+                j.remove()
+        attachment_frame = terrain_mjcf.attach(robot_mjcf)
+        attachment_frame.add('freejoint')
+        attachment_frame.pos = [*terrain_spawn_xy, robot_spawn_height]
+
+        if self.viewer is not None:
+            self.close_viewer()
+        self.mj_physics = mjcf.Physics.from_mjcf_model(terrain_mjcf)
+        self.mj_model = self.mj_physics.model.ptr
+        self.mj_data = self.mj_physics.data.ptr
+        self.mj_model.opt.timestep = self.cfg.physics.simulation_dt
+        self.headless = self.cfg.viewer.headless
+        if self.cfg.render.save_video and self.headless:
+            logger.warning("Cannot save video in headless mode, disabling video saving.")
+            self.cfg.render.save_video = False
+        if not self.headless:
+            self.viewer = mujoco.viewer.launch_passive(self.mj_model, self.mj_data, key_callback=self.key_callback)
+            self.last_render_time = time.time()
+            if self.cfg.render.save_video:
+                self.renderer = mujoco.Renderer(self.mj_model, height=self.cfg.render.height, width=self.cfg.render.width)
+
+                vid_dir = logger.log_dir / "videos"
+                vid_dir.mkdir(parents=True, exist_ok=True)
+                vid_path = str(vid_dir / f"sim_video_{self.vid_count:03d}.mp4")
+                self.vid_writer = imageio.get_writer(
+                    vid_path,
+                    fps=int(1 / self.cfg.physics.simulation_dt),
+                )
+                logger.info(f"Saving simulation video to: {vid_path}")
+                self.vid_count += 1
+        self._pause = False
+    
+    def key_callback(self, keycode):
+        if keycode == 32:
+            self._pause = not self._pause
+            logger.info(f"Pause toggled: {self._pause}")
+    
+    def step(self) -> dict:
+        """ Simulation step, pause will block thread. """
+        while self._pause:
+            time.sleep(0.1)
+        self.mj_physics.step()
+        if self.viewer is not None:
+            if self.viewer.is_running():
+                time_untile_next_render = self.cfg.physics.simulation_dt - (time.time() - self.last_render_time)
+                if time_untile_next_render > 0:
+                    time.sleep(time_untile_next_render)
+                self.viewer.sync()
+                if self.vid_writer is not None:
+                    self.renderer.update_scene(self.mj_data, camera=self.viewer.cam)
+                    frame = self.renderer.render()
+                    self.vid_writer.append_data(frame)
+                self.last_render_time = time.time()
+            else:
+                logger.warning("Viewer closed by user, stop video recording.")
+                self.close_viewer()
+
+        info = {}
+        return info
+    
+    def reset(self):
+        """ Reset the simulator to initial state. """
+        self.mj_physics.reset()
+        if self.viewer is not None:
+            self.viewer.sync()
+
+    def apply_action(self, action: np.ndarray):
+        """ Apply action to the simulator. """
+        self.mj_data.ctrl[:] = action
+    
+    def close_viewer(self):
+        """ Close the viewer and video writer. """
+        if self.viewer is not None:
+            self.viewer.close()
+            self.viewer = None
+            logger.info("Closing viewer.")
+        if self.vid_writer is not None:
+            self.vid_writer.close()
+            self.vid_writer = None
+            self.renderer = None
+            logger.info("Closing video writer.")
--- a/robogauge/utils/config.py
+++ b/robogauge/utils/config.py
@@ -0,0 +1,18 @@
+import inspect
+
+class Config:
+    # From https://github.com/leggedrobotics/legged_gym/blob/master/legged_gym/envs/base/base_config.py
+    def __init__(self) -> None:
+        """ Initializes all member classes recursively. Ignores all namse starting with '__' (buit-in methods)."""
+        self.init_member_classes(self)
+    
+    @staticmethod
+    def init_member_classes(obj):
+        for key in dir(obj):
+            if key == "__class__":
+                continue
+            var = getattr(obj, key)
+            if inspect.isclass(var):
+                i_var = var()
+                setattr(obj, key, i_var)
+                Config.init_member_classes(i_var)
--- a/robogauge/utils/helpers.py
+++ b/robogauge/utils/helpers.py
@@ -0,0 +1,56 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : helpers.py
+@Time    : 2025/11/27 15:26:37
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Helpers for robogauge, include:
+- Argument parsing
+- Class to dict conversion
+- Path parsing
+'''
+from argparse import ArgumentParser
+from pathlib import Path
+from robogauge import ROBOGAUGE_ROOT_DIR
+
+def pares_path(path):
+    if "{ROBOGAUGE_ROOT_DIR}" in str(path):
+        path = str(path).replace("{ROBOGAUGE_ROOT_DIR}", ROBOGAUGE_ROOT_DIR)
+    return path
+
+def class_to_dict(obj) -> dict:
+    if not hasattr(obj, "__dict__"):
+        return obj
+    result = {}
+    for key in dir(obj):
+        if key.startswith("_"):
+            continue
+        element = []
+        val = getattr(obj, key)
+        if isinstance(val, list):
+            for item in val:
+                element.append(class_to_dict(item))
+        else:
+            element = class_to_dict(val)
+        result[key] = element
+    return result
+
+def str2bool(v):
+    if v.lower() in ('yes', 'true', 't', 'y', '1'):
+        return True
+    elif v.lower() in ('no', 'false', 'f', 'n', '0'):
+        return False
+    raise TypeError('Boolean value expected.')
+
+def parse_args():
+    parser = ArgumentParser()
+    parameters = [
+        {"name": "--task-name", "type": str, "default": "base", "help": "Name of the task to run."},
+        {"name": "--experiment-name", "type": str, "default": "base", "help": "Name of the experiment to run."},
+        {"name": "--headless", "action": "store_true", "default": False, "help": "Run in headless mode."},
+        {"name": "--save-video", "action": "store_true", "default": False, "help": "Save video output."},
+    ]
+    for param in parameters:
+        parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})
+    return parser.parse_args()
--- a/robogauge/utils/logger.py
+++ b/robogauge/utils/logger.py
@@ -0,0 +1,133 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : my_logger.py
+@Time    : 2025/02/26 21:43:47
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : A customed logger, support: 
+1. Color level name
+2. Output to console and save log to file
+3. Support vscode file location jump (ctrl+left key)
+'''
+import time
+import logging
+from pathlib import Path
+from robogauge import ROBOGAUGE_ROOT_DIR
+
+class LogColor:
+    """ ANSI color codes """
+    RESET = '\033[0m'
+    RED   = '\033[31m'
+    GREEN = '\033[32m'
+    YELLOW = '\033[33m'
+    BLUE  = '\033[34m'
+    MAGENTA = '\033[35m'
+    CYAN  = '\033[36m'
+    WHITE = '\033[37m'
+    BOLD  = '\033[1m'
+    UNDERLINE = '\033[4m'
+
+LOG_COLORS = {
+    """ Match level name to color """
+    'DEBUG': LogColor.CYAN,
+    'INFO': LogColor.GREEN,
+    'WARNING': LogColor.YELLOW,
+    'ERROR': LogColor.RED,
+    'CRITICAL': LogColor.RED + LogColor.BOLD,
+}
+
+class ColorFormatter(logging.Formatter):
+    """Color Formatter for color_level"""
+    def __init__(self, fmt, datefmt=None, use_color=True):
+        self.formatter = logging.Formatter(fmt, datefmt)
+        self.use_color = use_color
+
+    def format(self, record):
+        record.color_level = f"{LOG_COLORS.get(record.levelname, LogColor.RESET)}{record.levelname}{LogColor.RESET}" if self.use_color else record.levelname
+        return self.formatter.format(record)
+
+
+class Logger:
+    def create(self,
+        experiment_name,
+        console_output=True, color_output=True,
+        log_level=logging.DEBUG, save_file_mode='a'
+    ):
+        """
+        Create customed Logger
+
+        Args:
+            logger_name (str): Logger name
+            console_output (bool, optional): Whether output to console. Defaults to True.
+            color_output (bool, optional): Whether use color output. Defaults to True.
+            log_level (int, optional): Defaults to logging.DEBUG.
+            save_file_mode (str, optional): The mode of saving to path_log_file
+
+        Returns:
+            logging.Logger: logger
+        """
+        self.logger = logging.getLogger(experiment_name + "_logger")
+        self.logger.setLevel(log_level)
+
+        console_formatter = ColorFormatter(    # console output format
+            fmt="%(asctime)s - %(color_level)s - %(filename)s:%(lineno)d - %(message)s",
+            datefmt="%Y-%m-%d %H:%M:%S",
+            use_color=color_output
+        )
+        file_formatter = logging.Formatter(    # file output format
+            fmt="%(asctime)s - %(levelname)s - %(filename)s:%(lineno)d - %(message)s",
+            datefmt="%Y-%m-%d %H:%M:%S",
+        )
+
+        if console_output:
+            sh = logging.StreamHandler()
+            sh.setFormatter(console_formatter)
+            self.logger.addHandler(sh)
+
+        self.log_dir = Path(ROBOGAUGE_ROOT_DIR) / "logs" / experiment_name / time.strftime("%Y%m%d-%H-%M-%S")
+        self.log_dir.mkdir(parents=True, exist_ok=True)
+        path_log_file = self.log_dir / "stdout.log"
+        if path_log_file:
+            fh = logging.FileHandler(path_log_file, mode=save_file_mode, encoding='utf-8')
+            fh.setFormatter(file_formatter)
+            self.logger.addHandler(fh)
+    
+    def debug(self, msg, *args, **kwargs):
+        self.logger.debug(msg, *args, **kwargs)
+    
+    def info(self, msg, *args, **kwargs):
+        self.logger.info(msg, *args, **kwargs)
+    
+    def warning(self, msg, *args, **kwargs):
+        self.logger.warning(msg, *args, **kwargs)
+
+    def error(self, msg, *args, **kwargs):
+        self.logger.error(msg, *args, **kwargs)
+
+    def critical(self, msg, *args, **kwargs):
+        self.logger.critical(msg, *args, **kwargs)
+
+logger = Logger()
+
+if __name__ == '__main__':
+    from pathlib import Path
+    path_parent = Path(__file__).parents[0]
+    path_log = path_parent / "app.log"
+
+    logger = Logger()
+    logger.create("my_logger")
+
+    logger.debug("This is a debug message")
+    logger.info("This is an info message")
+    logger.warning("This is a warning message")
+    logger.error("This is an error message")
+    logger.critical("This is a critical message")
+
+    # logger_no_color = Logger()
+    # logger_no_color.create("no_color_logger", console_output=True, color_output=False)
+    # logger_no_color.info("This is a info message without color")
+
+    # logger_file_only = Logger()
+    # logger_file_only.create("file_only_logger", console_output=False)  # save to file only
+    # logger_file_only.error("This is an error message only in file")
--- a/robogauge/utils/mujoco_tools.py
+++ b/robogauge/utils/mujoco_tools.py
--- a/robogauge/utils/task_register.py
+++ b/robogauge/utils/task_register.py
@@ -0,0 +1,55 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : task_register.py
+@Time    : 2025/11/27 15:59:03
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Task Registration Utility
+'''
+class TaskRegister():
+    def __init__(self):
+        self.pipeline_classes = {}
+        self.sim_cfgs = {}
+        self.gauger_cfgs = {}
+        self.robot_cfgs = {}
+    
+    def register(self, name: str, pipeline_class, sim_cfg, gauger_cfg, robot_cfg):
+        self.pipeline_classes[name] = pipeline_class
+        self.sim_cfgs[name] = sim_cfg
+        self.gauger_cfgs[name] = gauger_cfg
+        self.robot_cfgs[name] = robot_cfg
+    
+    def get_pipeline_class(self, name: str):
+        if name not in self.pipeline_classes:
+            raise ValueError(f"Task '{name}' is not registered.")
+        return self.pipeline_classes[name]
+    
+    def get_cfgs(self, name):
+        if name not in self.sim_cfgs:
+            raise ValueError(f"Task '{name}' is not registered.")
+        sim_cfg = self.sim_cfgs[name]
+        gauger_cfg = self.gauger_cfgs[name]
+        robot_cfg = self.robot_cfgs[name]
+        return sim_cfg, gauger_cfg, robot_cfg
+    
+    def make_pipeline(self, name, args=None, sim_cfg=None, gauger_cfg=None, robot_cfg=None):
+        default_cfgs = self.get_cfgs(name)
+        if sim_cfg is None:
+            sim_cfg = default_cfgs[0]
+        if gauger_cfg is None:
+            gauger_cfg = default_cfgs[1]
+        if robot_cfg is None:
+            robot_cfg = default_cfgs[2]
+        if args is not None:
+            self.update_args_to_cfg(sim_cfg, gauger_cfg, robot_cfg, args)
+        pipeline_class = self.get_pipeline_class(name)
+        return pipeline_class(sim_cfg, robot_cfg, gauger_cfg)
+
+    def update_args_to_cfg(self, sim_cfg, gauger_cfg, robot_cfg, args):
+        if args.headless is not None:
+            sim_cfg.viewer.headless = args.headless
+        if args.save_video is not None:
+            sim_cfg.render.save_video = args.save_video
+
+task_register = TaskRegister()
--- a/setup.py
+++ b/setup.py
@@ -0,0 +1,29 @@
+from setuptools import setup, find_packages
+
+setup(
+    name="robogauge",  # 包名
+    version="0.1.0",   # 版本号
+    author="wty-yy", # 你的名字
+    author_email="993660140@qq.com",
+    description="A generic robot RL model evaluation library based on MuJoCo",
+    url="https://github.com/wty-yy/robot_gauge", # 如果有仓库地址
+    packages=find_packages(),
+    install_requires=[
+        "numpy>=1.20.0",
+        "mujoco>=3.0.0",       # 必须依赖
+        "dm_control>=1.0.14",  # 之前推荐用来组合地形的库
+        "scipy",               # 计算信号处理、统计指标常用
+        "matplotlib",          # 用于画出评估图表
+        "pandas",              # 用于生成评估报告表格
+        "tqdm",                # 显示评估进度条
+        # "gymnasium",         # 如果你的接口兼容 gym
+        # "torch",             # 如果你需要加载 pytorch 模型
+    ],
+    python_requires=">=3.8",
+    
+    classifiers=[
+        "Programming Language :: Python :: 3",
+        "Topic :: Scientific/Engineering :: Artificial Intelligence",
+        "Topic :: Scientific/Engineering :: Robotics",
+    ],
+)