25 lines
802 B
Python
25 lines
802 B
Python
# -*- coding: utf-8 -*-
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'''
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@File : go2_moe_config.py
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@Time : 2025/12/05 17:32:27
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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 : None
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'''
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from robogauge.tasks.robots.go2.go2_config import Go2Config
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class Go2MoEConfig(Go2Config):
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robot_class = 'Go2MoE'
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class control(Go2Config.control):
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model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_137k_0.6745.pt"
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save_additional_output = False
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class Go2MoETerrainConfig(Go2MoEConfig):
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""" Go2 MoE Robot Configuration for Terrain Tasks (wave, stairs up/down, slope, obstacles) """
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class commands(Go2MoEConfig.commands):
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lin_vel_x = [-1.0, 1.0] # min max [m/s]
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lin_vel_y = [-1.0, 1.0] # min max [m/s]
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ang_vel_yaw = [-1.5, 1.5] # min max [rad/s]
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