v0.1.13; add 2.5 rad trunctation; add LevelPipeline binary search maximum terrain levels

robogauge/tasks/gauge/base_gauge.py

@@ -152,7 +152,9 @@ class BaseGauge:
                 self.results['summary'][metric_name][quantile] = f"{mean:.4f} ± {std:.4f}"
 
         save_path = Path(logger.log_dir) / "results.yaml"
-        self.results["terrain"] = f"{self.cfg.assets.terrain_name}"
+        self.results["terrain_name"] = self.cfg.assets.terrain_name
+        self.results["terrain_level"] = self.cfg.assets.terrain_level
+
         with open(save_path, 'w') as file:
             yaml.dump(self.results, file, allow_unicode=True, sort_keys=False)
             yaml_str = yaml.dump(self.results, allow_unicode=True, sort_keys=False)

robogauge/tasks/gauge/base_gauge_config.py

@@ -14,7 +14,8 @@ class BaseGaugeConfig(Config):
     write_tensorboard = False  # Whether to write tensorboard logs
 
     class assets:
-        terrain_name = "flat_0"  # {type}_{level}
+        terrain_name = "flat"
+        terrain_level = 0
         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
     

robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py

@@ -13,6 +13,7 @@ class FlatGaugeConfig(BaseGaugeConfig):
     gauge_class = 'BaseGauge'
 
     class assets(BaseGaugeConfig.assets):
-        terrain_name = "flat_0"  # {type}_{level}
+        terrain_name = "flat"
+        terrain_level = 0
         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

robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py

@@ -13,14 +13,15 @@ class SlopeGaugeConfig(BaseGaugeConfig):
     gauge_class = 'BaseGauge'
 
     class assets(BaseGaugeConfig.assets):
-        terrain_name = "slope_5"  # {type}_{level}
+        terrain_name = "slope"
+        terrain_level = 10  # 1-10
         terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.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 target_pos_velocity:  # goal to reach a target position by velocity command
             enabled = True
-            target_pos = [4, 0, 2.0]  # x y z [m], target position in the environment, used for target position goal
+            target_pos = [5, 0, 2.28]  # 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

robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py

@@ -0,0 +1,26 @@
+from robogauge.utils.config import Config
+
+class TerrainLevelsConfig(Config):
+    class flat:
+        levels = [0]
+        targets = [[4, 0, 0]]  # target positions for each level, if target goal is used
+    
+    class slope:
+        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
+        targets = [
+            [5, 0, 0.588],
+            [5, 0, 0.776],
+            [5, 0, 0.964],
+            [5, 0, 1.152],
+            [5, 0, 1.340],
+            [5, 0, 1.528],
+            [5, 0, 1.716],
+            [5, 0, 1.904],
+            [5, 0, 2.092],
+            [5, 0, 2.280],
+        ]
+
+    class wave:
+        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
+        targets = []
+

robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py

@@ -13,7 +13,8 @@ class WaveGaugeConfig(BaseGaugeConfig):
     gauge_class = 'BaseGauge'
 
     class assets(BaseGaugeConfig.assets):
-        terrain_name = "wave_1"  # {type}_{level}
+        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