v0.1.2

robogauge/tasks/robots/base_robot_config.py

@@ -0,0 +1,34 @@
+# -*- 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]
+