39 lines
813 B
Python
39 lines
813 B
Python
import numpy as np
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from dataclasses import dataclass
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@dataclass
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class JointState:
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pos: np.ndarray # [rad] shape (n_dof,)
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vel: np.ndarray # [rad/s] shape (n_dof,)
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force: np.ndarray # [N*m] shape (n_dof,)
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limits: np.ndarray # [rad] shape (n_dof, 2), lower and upper limits
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names: list # list of joint names
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@dataclass
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class BaseState:
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pos: np.ndarray
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quat: np.ndarray
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lin_vel: np.ndarray
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ang_vel: np.ndarray
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@dataclass
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class IMUState:
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pos: np.ndarray
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quat: np.ndarray
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acc: np.ndarray
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lin_vel: np.ndarray
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ang_vel: np.ndarray
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@dataclass
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class RobotProprioception:
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joint: JointState
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base: BaseState
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imu: IMUState
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@dataclass
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class SimData:
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n_step: int
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sim_dt: float
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sim_time: float
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proprio: RobotProprioception
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