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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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5
robogauge/tasks/robots/go2/go2_config.py
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@@ -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