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v0.1.9

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wty-yy
2025-12-18 13:50:23 +08:00
parent 9d509829a5
commit 1e1a04b4c0
18 changed files with 195 additions and 60 deletions
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3
robogauge/tasks/robots/base_robot_config.py
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@@ -8,7 +8,7 @@
@Desc : Base Robot Configuration
'''
from dataclasses import dataclass
from typing import Optional, List
from typing import Optional, List, Literal
from robogauge.utils.config import Config
class RobotConfig(Config):
@@ -24,6 +24,7 @@ class RobotConfig(Config):
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control
support_goal: Literal['velocity', 'position'] = 'velocity'
# Mujoco joint PD gains
p_gains = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] # [N*m/rad]

1
robogauge/tasks/robots/go2/go2_config.py
View File

@@ -24,6 +24,7 @@ class Go2Config(RobotConfig):
# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_cmd-1,1_38k.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control
support_goal: Literal['velocity', 'position'] = 'velocity'
# Mujoco joint PD gains
p_gains = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] # [N*m/rad]