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v0.1.10

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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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4
robogauge/tasks/simulator/mujoco_simulator.py
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@@ -200,7 +200,7 @@ class MujocoSimulator:
joint=JointState(
pos=self.get_sensor_data('joint_pos'),
vel=self.get_sensor_data('joint_vel'),
force=self.get_sensor_data('joint_eff'),
torque=self.get_sensor_data('joint_eff'),
limits=self.dof_limits,
names=self.dof_names,
),
@@ -389,7 +389,7 @@ class MujocoSimulator:
logger.info("Proprioception shapes:")
logger.info(f" joint.pos: { _shape(jp.pos) }")
logger.info(f" joint.vel: { _shape(jp.vel) }")
logger.info(f" joint.force: { _shape(jp.force) }")
logger.info(f" joint.torque: { _shape(jp.torque) }")
logger.info(f" base.pos: { _shape(bs.pos) }")
logger.info(f" base.quat: { _shape(bs.quat) }")

2
robogauge/tasks/simulator/sim_data.py
View File

@@ -5,7 +5,7 @@ from dataclasses import dataclass
class JointState:
pos: np.ndarray # [rad] shape (n_dof,)
vel: np.ndarray # [rad/s] shape (n_dof,)
force: np.ndarray # [N*m] shape (n_dof,)
torque: np.ndarray # [N*m] shape (n_dof,)
limits: np.ndarray # [rad] shape (n_dof, 2), lower and upper limits
names: list # list of joint names