55 lines
1.9 KiB
Python
55 lines
1.9 KiB
Python
# -*- coding: utf-8 -*-
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'''
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@File : go2_config.py
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@Time : 2025/11/27 16:03:27
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@Author : wty-yy
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@Version : 1.0
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@Blog : https://wty-yy.github.io/
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@Desc : Go2 Robot Configuration
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'''
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from typing_extensions import Literal
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from robogauge.tasks.robots import RobotConfig
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class Go2Config(RobotConfig):
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robot_class = 'Go2'
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class assets:
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robot_xml = "{ROBOGAUGE_ROOT_DIR}/resources/robots/go2/go2.xml"
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robot_spawn_height = 0.1 # z [m]
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class control(RobotConfig.control):
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device = 'cpu'
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torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_83501.pt"
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# torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_cmd-1,1_38k.pt"
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control_dt = 0.02 # 50 Hz
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control_type = 'P' # Position control
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# Mujoco joint PD gains
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p_gains = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] # [N*m/rad]
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d_gains = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] # [N*m*s/rad]
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num_observations = 45
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num_actions = 12
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default_dof_pos = [0.1, 0.8, -1.5, -0.1, 0.8, -1.5,
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0.1, 1.0, -1.5, -0.1, 1.0, -1.5]
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mj2model_dof_indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
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class scales(RobotConfig.control.scales):
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lin_vel = 2.0
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ang_vel = 0.25
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dof_pos = 1.0
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dof_vel = 0.05
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action = 0.25 # target pos = action_scale * action * default_pos
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cmd = [2.0, 2.0, 0.25]
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class commands(RobotConfig.commands):
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lin_vel_x = [-1.5, 1.5] # min max [m/s]
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lin_vel_y = [-1, 1] # min max [m/s]
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lin_vel_z = None # min max [m/s]
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ang_vel_roll = None # min max [rad/s]
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ang_vel_pitch = None # min max [rad/s]
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ang_vel_yaw = [-2, 2] # min max [rad/s]
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