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v0.1.5

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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: