35 lines
1.4 KiB
Python
35 lines
1.4 KiB
Python
from robogauge.tasks.robots import Go2Config, Go2MoEConfig
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from robogauge.tasks.gauge import FlatGaugeConfig
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class Go2FlatGaugeConfig(FlatGaugeConfig):
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class metrics(FlatGaugeConfig.metrics):
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class dof_limits(FlatGaugeConfig.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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class goals(FlatGaugeConfig.goals):
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class max_velocity(FlatGaugeConfig.goals.max_velocity):
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enabled = True
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cmd_duration = 5.0
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class diagonal_velocity(FlatGaugeConfig.goals.diagonal_velocity):
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enabled = False
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cmd_duration = 6.0
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class Go2FlatConfig(Go2Config):
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class commands(Go2Config.commands):
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lin_vel_x = [-2.0, 2.0] # min max [m/s]
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lin_vel_y = [-2.0, 2.0] # min max [m/s]
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ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
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class Go2MoEFlatConfig(Go2MoEConfig):
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class commands(Go2Config.commands):
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lin_vel_x = [-2.0, 2.0] # min max [m/s]
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lin_vel_y = [-2.0, 2.0] # min max [m/s]
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ang_vel_yaw = [-2.0, 2.0] # min max [rad/s]
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class control(Go2Config.control):
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# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_moe_cts_124k.pt"
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model_path = "/home/xfy/Coding/kaiwu2025/rob_finals/sim2real/models/v6-2_106503/kaiwu_script_v6-2_106503.pt"
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