v0.1.2

robogauge/tasks/simulator/sim_data.py

@@ -0,0 +1,29 @@
+import numpy as np
+from dataclasses import dataclass
+
+@dataclass
+class JointState:
+    pos: np.ndarray
+    vel: np.ndarray
+    force: np.ndarray
+
+@dataclass
+class BaseState:
+    pos: np.ndarray
+    quat: np.ndarray
+    vel: np.ndarray
+    ang_vel: np.ndarray
+
+@dataclass
+class IMUState:
+    quat: np.ndarray
+    ang_vel: np.ndarray
+    acc: np.ndarray
+    pos: np.ndarray
+    lin_vel: np.ndarray
+
+@dataclass
+class RobotProprioception:
+    joint: JointState
+    base: BaseState
+    imu: IMUState