19 lines
618 B
Python
19 lines
618 B
Python
# -*- coding: utf-8 -*-
|
|
'''
|
|
@File : go2_wave_task.py
|
|
@Time : 2026/01/02 23:16:45
|
|
@Author : wty-yy
|
|
@Version : 1.0
|
|
@Blog : https://wty-yy.github.io/
|
|
@Desc : Go2 Wave Task Configuration
|
|
'''
|
|
from robogauge.tasks.gauge import WaveGaugeConfig
|
|
from robogauge.tasks.simulator.mujoco_config import MujocoConfig
|
|
|
|
class Go2WaveGaugeConfig(WaveGaugeConfig):
|
|
class metrics(WaveGaugeConfig.metrics):
|
|
class dof_limits(WaveGaugeConfig.metrics.dof_limits):
|
|
enabled = True
|
|
soft_dof_limit_ratio = 0.7
|
|
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all
|