19 lines
702 B
Python
19 lines
702 B
Python
from robogauge.tasks.robots import Go2Config
|
|
from robogauge.tasks.gauge import FlatGaugeConfig
|
|
|
|
class Go2FlatGaugeConfig(FlatGaugeConfig):
|
|
class metrics(FlatGaugeConfig.metrics):
|
|
class dof_limits(FlatGaugeConfig.metrics.dof_limits):
|
|
enabled = True
|
|
soft_dof_limit_ratio = 0.7
|
|
dof_names = ['hip', 'thigh'] # List of DOF names to monitor, None for all
|
|
|
|
class goals(FlatGaugeConfig.goals):
|
|
class max_velocity(FlatGaugeConfig.goals.max_velocity):
|
|
enabled = True
|
|
cmd_duration = 5.0
|
|
|
|
class diagonal_velocity(FlatGaugeConfig.goals.diagonal_velocity):
|
|
enabled = True
|
|
cmd_duration = 6.0
|