v0.1.3

2025-11-28 22:08:32 +08:00
parent 4cc0687114
commit c58ac0ab89
39 changed files with 406 additions and 114 deletions
--- a/robogauge/tasks/simulator/sim_data.py
+++ b/robogauge/tasks/simulator/sim_data.py
@@ -11,19 +11,25 @@ class JointState:
 class BaseState:
    pos: np.ndarray
    quat: np.ndarray
-    vel: np.ndarray
+    lin_vel: np.ndarray
    ang_vel: np.ndarray

@dataclass
 class IMUState:
-    quat: np.ndarray
-    ang_vel: np.ndarray
-    acc: np.ndarray
    pos: np.ndarray
+    quat: np.ndarray
+    acc: np.ndarray
    lin_vel: np.ndarray
+    ang_vel: np.ndarray

@dataclass
 class RobotProprioception:
    joint: JointState
    base: BaseState
    imu: IMUState
+
+@dataclass
+class SimData:
+    n_step: int
+    sim_dt: float
+    proprio: RobotProprioception