Robots / Sensors / Locomotion API（机器人/传感器/运动控制）

Robots

• omninav/robots/base.py

• omninav/robots/go2.py

• omninav/robots/go2w.py

导出：

• RobotBase

• Go2Robot

• Go2wRobot

Sensors

• omninav/sensors/base.py

• omninav/sensors/lidar.py

• omninav/sensors/camera.py

• omninav/sensors/raycaster.py

• omninav/sensors/raycaster_depth.py

导出：

• SensorBase

• Lidar2DSensor

• CameraSensor

• RaycasterSensor

• RaycasterDepthSensor

Locomotion

• omninav/locomotion/base.py

• omninav/locomotion/wheel_controller.py

• omninav/locomotion/kinematic_controller.py

• omninav/locomotion/rl_controller.py

导出：

• LocomotionControllerBase

• WheelController

• KinematicController

• KinematicWheelPositionController

• RLController

配置参考

• configs/robot

• configs/sensor

• configs/locomotion