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v1.1.5; Add friction margin

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This commit is contained in:
wty-yy
2026-03-23 21:13:41 +08:00
parent fe35afea22
commit f713f70561
13 changed files with 172 additions and 9 deletions
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1
robogauge/tasks/robots/base_robot_config.py
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@@ -17,6 +17,7 @@ class RobotConfig(Config):
class assets:
robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
foot_geom_names = [] # List of foot contact geom names (without Mujoco attach prefix)
class control:
device = 'cpu'

1
robogauge/tasks/robots/go2/go2_config.py
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@@ -17,6 +17,7 @@ class Go2Config(RobotConfig):
class assets:
robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
robot_spawn_height = 0.1 # z [m]
foot_geom_names = ['FL', 'FR', 'RL', 'RR']
class control(RobotConfig.control):
device = 'cpu'