20 lines
721 B
Python
20 lines
721 B
Python
# -*- coding: utf-8 -*-
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'''
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@File : go2_stairs_down_task.py
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@Time : 2025/12/25 16:36:18
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@Author : wty-yy
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@Version : 1.0
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@Blog : https://wty-yy.github.io/
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@Desc : Go2 Stairs Down Task Configuration
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'''
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from robogauge.tasks.robots import Go2Config, Go2MoEConfig
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from robogauge.tasks.gauge import StairsDownGaugeConfig
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from robogauge.tasks.simulator.mujoco_config import MujocoConfig
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class Go2StairsDownGaugeConfig(StairsDownGaugeConfig):
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class metrics(StairsDownGaugeConfig.metrics):
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class dof_limits(StairsDownGaugeConfig.metrics.dof_limits):
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enabled = True
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soft_dof_limit_ratio = 0.7
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dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all
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