15 lines
561 B
Python
15 lines
561 B
Python
from robogauge.tasks.robots import Go2Config
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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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