cyy/RoboGauge
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
wty-yy
2025-12-22 22:57:20 +08:00
parent 6bbdceee2f
commit 50126ec9aa
24 changed files with 144 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py
View File

@@ -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