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v0.1.10

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This commit is contained in:
wty-yy
2025-12-18 23:14:18 +08:00
parent 1e1a04b4c0
commit 939dc69b7e
25 changed files with 411 additions and 50 deletions
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16
robogauge/tasks/robots/base_robot.py
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@@ -45,19 +45,3 @@ class BaseRobot:
action = np.zeros(self.num_action, dtype=np.float32)
return action, self.p_gains, self.d_gains, self.control_type
def get_projected_gravity(quat):
""" Compute world frame gravity (0, 0, -1) projected into robot base frame.
Args:
quat: (4,) quaternion (w, x, y, z) from robot base to world frame
Returns:
projected_gravity: (3,) projected gravity vector in robot base frame
"""
qw, qx, qy, qz = quat
gravity_orientation = np.zeros(3)
gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
gravity_orientation[1] = -2 * (qz * qy + qw * qx)
gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
return gravity_orientation

3
robogauge/tasks/robots/go2/go2.py
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@@ -10,7 +10,8 @@
import torch
import numpy as np
from robogauge.tasks.robots.base_robot import BaseRobot, get_projected_gravity
from robogauge.tasks.robots.base_robot import BaseRobot
from robogauge.utils.math_utils import get_projected_gravity
from robogauge.tasks.robots.go2.go2_config import Go2Config
from robogauge.tasks.simulator.sim_data import SimData
from robogauge.tasks.gauge.goal_data import GoalData

5
robogauge/tasks/robots/go2/go2_moe.py
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@@ -10,12 +10,7 @@
import torch
import numpy as np
from robogauge.tasks.robots.base_robot import BaseRobot, get_projected_gravity
from robogauge.tasks.robots.go2.go2_config import Go2Config
from robogauge.tasks.robots.go2.go2 import Go2
from robogauge.tasks.simulator.sim_data import SimData
from robogauge.tasks.gauge.goal_data import GoalData
from robogauge.utils.logger import logger
class Go2MoE(Go2):
def get_action(self, obs: np.ndarray):