35 lines
983 B
Python
35 lines
983 B
Python
# -*- coding: utf-8 -*-
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'''
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@File : base_robot_config.py
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@Time : 2025/11/27 15:53:47
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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 : Base Robot Configuration
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'''
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from robogauge.utils.config import Config
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class RobotConfig(Config):
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robot_class = 'BaseRobot'
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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:
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torch_script_model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go2/go2_cts_61500.pt"
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control_dt = 0.02 # 50 Hz
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action_scale = 0.25 # target pos = action_scale * action * default_pos
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stiffness = 20.0 # [N*m/rad]
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damping = 0.5 # [N*m*s/rad]
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class mdp:
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num_observations = 46
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num_actions = 12
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class commands:
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lin_vel_x = [-1, 1] # min max [m/s]
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lin_vel_y = [-1, 1] # min max [m/s]
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ang_vel_yaw = [-1, 1] # min max [rad/s]
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