v0.1.11

robogauge/tasks/gauge/base_gauge_config.py

@@ -14,6 +14,7 @@ class BaseGaugeConfig(Config):
     write_tensorboard = False  # Whether to write tensorboard logs
 
     class assets:
+        terrain_name = "flat_0"  # {type}_{level}
         terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
         terrain_spawn_pos = [0, 0, 0]  # x y z [m], robot freejoint spawn position on the terrain
     
@@ -26,6 +27,14 @@ class BaseGaugeConfig(Config):
             enabled = True
             cmd_duration = 6.0  # [s] duration for a pair of diagonal velocity commands
 
+        class target_pos_velocity:  # goal to reach a target position by velocity command
+            enabled = True
+            target_pos = [5, 0, 0]  # x y z [m], target position in the environment, used for target position goal
+            lin_vel_x = 1.0  # +/- m/s
+            ang_vel_yaw = 1.0  # +/- rad/s
+            max_cmd_duration = 10.0  # [s] maximum duration to reach the target position
+            reach_threshold = 0.1
+
     class metrics:
         metric_dt = 0.1  # [s] frequency to compute metrics
         class dof_limits: