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v0.1.5

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This commit is contained in:
wty-yy
2025-12-01 18:01:12 +08:00
parent a91ea5b62e
commit ad907089a8
24 changed files with 324 additions and 120 deletions
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6
robogauge/tasks/robots/base_robot.py
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@@ -25,9 +25,9 @@ class BaseRobot:
self.control_type = cfg.control.control_type
self.p_gains = np.array(cfg.control.p_gains)
self.d_gains = np.array(cfg.control.d_gains)
script_model_path = parse_path(cfg.control.torch_script_model_path)
logger.info(f"Loading robot model from '{script_model_path}'")
self.model = torch.jit.load(script_model_path).to(self.device)
model_path = parse_path(cfg.control.model_path)
logger.info(f"Loading robot model from '{model_path}'")
self.model = torch.jit.load(model_path).to(self.device)
self.model.eval()
def build_observation(self, sim_data: SimData, goal_data: GoalData) -> np.ndarray:

5
robogauge/tasks/robots/base_robot_config.py
View File

@@ -12,15 +12,16 @@ from typing import Optional, List
from robogauge.utils.config import Config
class RobotConfig(Config):
robot_name = 'base_robot'
robot_class = 'BaseRobot'
class assets:
robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
robot_spawn_height = 0.1 # z [m]
class control:
device = 'cpu'
torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
# torch script model path
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control

5
robogauge/tasks/robots/go2/go2_config.py
View File

@@ -11,6 +11,7 @@ from typing_extensions import Literal
from robogauge.tasks.robots import RobotConfig
class Go2Config(RobotConfig):
robot_name = 'go2'
robot_class = 'Go2'
class assets:
@@ -19,8 +20,8 @@ class Go2Config(RobotConfig):
class control(RobotConfig.control):
device = 'cpu'
torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
# torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_cmd-1,1_38k.pt"
model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
# model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_cmd-1,1_38k.pt"
control_dt = 0.02 # 50 Hz
control_type = 'P' # Position control