20 lines
1.2 KiB
Python
20 lines
1.2 KiB
Python
from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
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from legged_gym.envs.go2.go2_env import Go2Robot
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from legged_gym.envs.go2.go2_config import GO2Cfg, GO2CfgPPO, GO2CfgCTS, GO2CfgMoECTS, GO2CfgMoENGCTS, GO2CfgMCPCTS, GO2CfgACMoECTS, GO2CfgDualMoECTS
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from legged_gym.envs.go1.go1_env import Go1Robot
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from legged_gym.envs.go1.go1_config import GO1Cfg, GO1CfgMoECTS, GO1StairsCfg, GO1StairsCfgMoECTS
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from .base.legged_robot import LeggedRobot
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from legged_gym.utils.task_registry import task_registry
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task_registry.register("go2", Go2Robot, GO2Cfg(), GO2CfgPPO())
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task_registry.register("go2_cts", Go2Robot, GO2Cfg(), GO2CfgCTS())
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task_registry.register("go2_moe_cts", Go2Robot, GO2Cfg(), GO2CfgMoECTS())
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task_registry.register("go2_moe_ng_cts", Go2Robot, GO2Cfg(), GO2CfgMoENGCTS())
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task_registry.register("go2_mcp_cts", Go2Robot, GO2Cfg(), GO2CfgMCPCTS())
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task_registry.register("go2_ac_moe_cts", Go2Robot, GO2Cfg(), GO2CfgACMoECTS())
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task_registry.register("go2_dual_moe_cts", Go2Robot, GO2Cfg(), GO2CfgDualMoECTS())
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task_registry.register("go1_moe_cts", Go1Robot, GO1Cfg(), GO1CfgMoECTS())
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task_registry.register("go1_moe_cts_stairs", Go1Robot, GO1StairsCfg(), GO1StairsCfgMoECTS())
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