29 lines
2.1 KiB
Python
29 lines
2.1 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 RobotConfig, Go2Config, Go2MoEConfig, Go2TerrainConfig, Go2MoETerrainConfig
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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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