68 lines
4.7 KiB
Python
68 lines
4.7 KiB
Python
from robogauge.utils.task_register import task_register
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from robogauge.tasks.simulator.mujoco_config import MujocoConfig
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from robogauge.tasks.robots import (
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RobotConfig,
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Go2Config,
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Go2LabConfig,
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Go2MoEConfig,
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Go2TerrainConfig,
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Go2LabTerrainConfig,
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Go2MoETerrainConfig,
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Go1MoEConfig,
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Go1MoETerrainConfig,
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Go1LabConfig,
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Go1LabTerrainConfig,
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)
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from robogauge.tasks.pipeline import BasePipeline
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from robogauge.tasks.gauge import BaseGaugeConfig
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from robogauge.tasks.custom.go2 import *
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# Register tasks: Task name format '<robot_model>.<terrain>'
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task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
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# Go2 MLP
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task_register.register('go2.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
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task_register.register('go2.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2TerrainConfig)
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# Go2 MoE
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task_register.register('go2_moe.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
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task_register.register('go2_moe.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2MoETerrainConfig)
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# Go1 MoE (the policy is evaluated in the Go1 MuJoCo dynamics model)
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task_register.register('go1_moe.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go1MoEConfig)
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task_register.register('go1_moe.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go1MoETerrainConfig)
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task_register.register('go1_moe.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go1MoETerrainConfig)
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task_register.register('go1_moe.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go1MoETerrainConfig)
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task_register.register('go1_moe.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go1MoETerrainConfig)
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task_register.register('go1_moe.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go1MoETerrainConfig)
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task_register.register('go1_moe.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go1MoETerrainConfig)
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# Go1 RobotLab
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task_register.register('go1_lab.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go1LabConfig)
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task_register.register('go1_lab.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go1LabTerrainConfig)
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task_register.register('go1_lab.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go1LabTerrainConfig)
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task_register.register('go1_lab.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go1LabTerrainConfig)
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task_register.register('go1_lab.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go1LabTerrainConfig)
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task_register.register('go1_lab.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go1LabTerrainConfig)
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task_register.register('go1_lab.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go1LabTerrainConfig)
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# Go2 Lab
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task_register.register('go2_lab.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2LabConfig)
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task_register.register('go2_lab.slope_fd', BasePipeline, MujocoConfig, Go2SlopeForwardGaugeConfig, Go2LabTerrainConfig)
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task_register.register('go2_lab.slope_bd', BasePipeline, MujocoConfig, Go2SlopeBackwardGaugeConfig, Go2LabTerrainConfig)
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task_register.register('go2_lab.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2LabTerrainConfig)
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task_register.register('go2_lab.stairs_fd', BasePipeline, MujocoConfig, Go2StairsForwardGaugeConfig, Go2LabTerrainConfig)
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task_register.register('go2_lab.stairs_bd', BasePipeline, MujocoConfig, Go2StairsBackwardGaugeConfig, Go2LabTerrainConfig)
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task_register.register('go2_lab.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2LabTerrainConfig)
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