v0.1.11

robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py

@@ -12,11 +12,12 @@ from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
 class FlatGaugeConfig(BaseGaugeConfig):
     gauge_class = 'BaseGauge'
 
-    class assets:
+    class assets(BaseGaugeConfig.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
     
-    class goals:
+    class goals(BaseGaugeConfig.goals):
         class max_velocity:  # goal with maximum velocity
             enabled = True
             move_duration = 5.0  # [s] duration for each velocity command
@@ -27,6 +28,14 @@ class FlatGaugeConfig(BaseGaugeConfig):
             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, config target at assets.target_pos
+            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(BaseGaugeConfig.metrics):
         metric_dt = 0.1  # [s] frequency to compute metrics
         class dof_limits: