27 lines
1.8 KiB
Python
27 lines
1.8 KiB
Python
from robogauge.utils.task_register import task_register
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from robogauge.tasks.simulator.mujoco_config import MujocoConfig
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from robogauge.tasks.robots import RobotConfig, Go2Config, Go2MoEConfig, Go2TerrainConfig, Go2MoETerrainConfig, Go2StairsConfig, Go2MoEStairsConfig
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from robogauge.tasks.pipeline import BasePipeline
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from robogauge.tasks.gauge import BaseGaugeConfig
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from robogauge.tasks.custom.go2 import *
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# Register tasks: Task name format '<robot_model>.<terrain>'
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task_register.register('base', BasePipeline, MujocoConfig, BaseGaugeConfig, RobotConfig)
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# Go2 MLP
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task_register.register('go2.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2Config)
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task_register.register('go2.slope', BasePipeline, MujocoConfig, Go2SlopeGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2TerrainConfig)
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task_register.register('go2.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2TerrainConfig)
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# Go2 MoE
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task_register.register('go2_moe.flat', BasePipeline, MujocoConfig, Go2FlatGaugeConfig, Go2MoEConfig)
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task_register.register('go2_moe.slope', BasePipeline, MujocoConfig, Go2SlopeGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.wave', BasePipeline, MujocoConfig, Go2WaveGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.stairs_up', BasePipeline, MujocoConfig, Go2StairsUpGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.stairs_down', BasePipeline, MujocoConfig, Go2StairsDownGaugeConfig, Go2MoETerrainConfig)
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task_register.register('go2_moe.obstacle', BasePipeline, MujocoConfig, Go2ObstacleGaugeConfig, Go2MoETerrainConfig)
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