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v0.1.4

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wty-yy
2025-12-01 00:08:01 +08:00
parent c58ac0ab89
commit a91ea5b62e
21 changed files with 299 additions and 60 deletions
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8
robogauge/tasks/robots/base_robot_config.py
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@@ -7,7 +7,8 @@
@Blog : https://wty-yy.github.io/
@Desc : Base Robot Configuration
'''
from typing_extensions import Literal
from dataclasses import dataclass
from typing import Optional, List
from robogauge.utils.config import Config
class RobotConfig(Config):
@@ -30,7 +31,6 @@ class RobotConfig(Config):
num_observations = 45
num_actions = 12
max_velocity_cmd = [1.5, 1.0, 2.0]
default_dof_pos = [0.1, 0.8, -1.5, -0.1, 0.8, -1.5,
0.1, 1.0, -1.5, -0.1, 1.0, -1.5]
@@ -47,5 +47,7 @@ class RobotConfig(Config):
class commands:
lin_vel_x = [-1, 1] # min max [m/s]
lin_vel_y = [-1, 1] # min max [m/s]
lin_vel_z = None # min max [m/s]
ang_vel_roll = None # min max [rad/s]
ang_vel_pitch = None # min max [rad/s]
ang_vel_yaw = [-1, 1] # min max [rad/s]