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v0.1.14; add wave terrain; finish LevelPipeline

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This commit is contained in:
wty-yy
2025-12-25 00:02:43 +08:00
parent 50126ec9aa
commit 11908747ce
19 changed files with 296 additions and 57 deletions
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13
robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py
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@@ -22,5 +22,16 @@ class TerrainLevelsConfig(Config):
class wave:
levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
targets = []
targets = [
[6.5, 0.0, 0.08],
[6.5, 0.0, 0.16],
[6.5, 0.0, 0.24],
[6.5, 0.0, 0.32],
[6.5, 0.0, 0.40],
[6.5, 0.0, 0.48],
[6.5, 0.0, 0.56],
[6.5, 0.0, 0.64],
[6.5, 0.0, 0.72],
[6.5, 0.0, 0.80],
]

8
robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
View File

@@ -14,14 +14,14 @@ class WaveGaugeConfig(BaseGaugeConfig):
class assets(BaseGaugeConfig.assets):
terrain_name = "wave"
terrain_level = 1 # 1-10
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_1.xml'
terrain_spawn_pos = [1.5, 0, 1] # x y z [m], robot freejoint spawn position on the terrain
terrain_level = 10 # 1-10
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_10.xml'
terrain_spawn_pos = [1.5, 1.25, 1.0] # x y z [m], robot freejoint spawn position on the terrain
class goals:
class target_pos_velocity: # goal to reach a target position by velocity command
enabled = True
target_pos = [4, 0, 1.0] # x y z [m], target position in the environment, used for target position goal
target_pos = [6.5, 0.0, 0.8] # x y z [m], target position in the environment, used for target position goal
lin_vel_x = 1.0 # +/- m/s
lin_vel_y = 1.0 # +/- m/s
ang_vel_yaw = 1.5 # +/- rad/s