v0.1.2

robogauge/tasks/robots/__init__.py

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+from .base_robot_config import RobotConfig
+from .base_robot import BaseRobot
+# from .go2.go2_config import Go2Config
+# from .go2.go2_controller import Go2Controller

robogauge/tasks/robots/base_robot.py

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+# -*- coding: utf-8 -*-
+'''
+@File    : base_robot.py
+@Time    : 2025/11/27 15:53:57
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Robot Class
+'''
+import torch
+import numpy as np
+from robogauge.tasks.robots.base_robot_config import RobotConfig
+
+class BaseRobot:
+    def __init__(self, cfg: RobotConfig):
+        self.num_act = cfg.mdp.num_actions
+        self.num_obs = cfg.mdp.num_observations
+        self.model = None
+    
+    def load_model(self):
+        ...
+    
+    def build_observation(self, sim_info: dict, goal_info: dict) -> np.ndarray:
+        obs = np.zeros(self.num_obs)
+        return obs
+    
+    def get_action(self, obs) -> np.ndarray:
+        action = np.zeros_like(self.num_act)
+        return action

robogauge/tasks/robots/base_robot_config.py

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+# -*- coding: utf-8 -*-
+'''
+@File    : base_robot_config.py
+@Time    : 2025/11/27 15:53:47
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Base Robot Configuration
+'''
+from robogauge.utils.config import Config
+
+class RobotConfig(Config):
+    robot_class = 'BaseRobot'
+
+    class assets:
+        robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
+        robot_spawn_height = 0.1  # z [m]
+
+    class control:
+        torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_61500.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]
+    
+    class mdp:
+        num_observations = 46
+        num_actions = 12
+    
+    class commands:
+        lin_vel_x = [-1, 1]  # min max [m/s]
+        lin_vel_y = [-1, 1]  # min max [m/s]
+        ang_vel_yaw = [-1, 1]  # min max [rad/s]
+    

robogauge/tasks/robots/go2/go2_config.py

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+# -*- coding: utf-8 -*-
+'''
+@File    : go2_config.py
+@Time    : 2025/11/27 16:03:27
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 Robot Configuration
+'''
+from robogauge.tasks.robots import RobotConfig
+
+class Go2Config(RobotConfig):
+    class assets:
+        robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
+        robot_spawn_height = 0.1  # z [m]
+
+    class control:
+        control_dt = 0.02  # 50 Hz
+        action_scale = 0.25  # scale for normalized actions
+