v0.1.9

2025-12-18 13:50:23 +08:00
parent 9d509829a5
commit 1e1a04b4c0
18 changed files with 195 additions and 60 deletions
--- a/robogauge/tasks/robots/go2/go2_config.py
+++ b/robogauge/tasks/robots/go2/go2_config.py
@@ -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]