v1.1.4; Add ZMP margin metric

2026-03-23 11:24:00 +08:00
parent be054d02b0
commit fe35afea22
17 changed files with 782 additions and 19 deletions
--- a/robogauge/tasks/robots/go2/go2_config.py
+++ b/robogauge/tasks/robots/go2/go2_config.py
@@ -48,7 +48,7 @@ class Go2Config(RobotConfig):
            cmd = [2.0, 2.0, 0.25]

    class commands(RobotConfig.commands):
-        lin_vel_x = [-2.0, 2.0]  # min max [m/s]
+        lin_vel_x = [-1.0, 1.0]  # min max [m/s]
        lin_vel_y = [-1.0, 1.0]  # min max [m/s]
        lin_vel_z = None  # min max [m/s]
        ang_vel_roll = None  # min max [rad/s]