v0.1.4

2025-12-01 00:08:01 +08:00
parent c58ac0ab89
commit a91ea5b62e
21 changed files with 299 additions and 60 deletions
--- a/robogauge/tasks/simulator/sim_data.py
+++ b/robogauge/tasks/simulator/sim_data.py
@@ -3,9 +3,10 @@ from dataclasses import dataclass

@dataclass
 class JointState:
-    pos: np.ndarray
-    vel: np.ndarray
-    force: np.ndarray
+    pos: np.ndarray     # [rad] shape (n_dof,)
+    vel: np.ndarray     # [rad/s] shape (n_dof,)
+    force: np.ndarray   # [N*m] shape (n_dof,)
+    limits: np.ndarray  # [rad] shape (n_dof, 2), lower and upper limits

@dataclass
 class BaseState:
@@ -32,4 +33,5 @@ class RobotProprioception:
 class SimData:
    n_step: int
    sim_dt: float
+    sim_time: float
    proprio: RobotProprioception