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v0.1.3

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wty-yy
2025-11-28 22:08:32 +08:00
parent 4cc0687114
commit c58ac0ab89
39 changed files with 406 additions and 114 deletions
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31
robogauge/tasks/robots/base_robot_config.py
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@@ -7,6 +7,7 @@
@Blog : https://wty-yy.github.io/
@Desc : Base Robot Configuration
'''
from typing_extensions import Literal
from robogauge.utils.config import Config
class RobotConfig(Config):
@@ -17,16 +18,32 @@ class RobotConfig(Config):
robot_spawn_height = 0.1 # z [m]
class control:
torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_61500.pt"
device = 'cpu'
torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
control_dt = 0.02 # 50 Hz
action_scale = 0.25 # target pos = action_scale * action * default_pos
stiffness = 20.0 # [N*m/rad]
damping = 0.5 # [N*m*s/rad]
control_type = 'P' # Position control
# Mujoco joint PD gains
p_gains = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] # [N*m/rad]
d_gains = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] # [N*m*s/rad]
class mdp:
num_observations = 46
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]
mj2model_dof_indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
class scales:
lin_vel = 2.0
ang_vel = 0.25
dof_pos = 1.0
dof_vel = 0.05
action = 0.25 # target pos = action_scale * action * default_pos
cmd = [2.0, 2.0, 0.25]
class commands:
lin_vel_x = [-1, 1] # min max [m/s]
lin_vel_y = [-1, 1] # min max [m/s]