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

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wty-yy
2025-12-22 22:57:20 +08:00
parent 6bbdceee2f
commit 50126ec9aa
24 changed files with 144 additions and 22 deletions
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11
robogauge/utils/task_register.py
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@@ -10,6 +10,7 @@
from robogauge import ROBOGAUGE_ROOT_DIR
from robogauge.utils.logger import logger
from robogauge.utils.helpers import parse_args, set_seed
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainLevelsConfig
class TaskRegister():
def __init__(self):
@@ -69,5 +70,15 @@ class TaskRegister():
sim_cfg.domain_rand.friction = args.friction
if args.base_mass is not None:
sim_cfg.domain_rand.base_mass = args.base_mass
if args.level is not None:
gauger_cfg.assets.terrain_level = args.level
levels_cfg = TerrainLevelsConfig()
cfg = getattr(levels_cfg, gauger_cfg.assets.terrain_name)
assert cfg is not None, f"Level {args.level} configuration not found in TerrainLevelsConfig."
assert args.level in cfg.levels, f"Level must be in {cfg.levels}."
gauger_cfg.goals.target_pos_velocity.target_pos = cfg.targets[cfg.levels.index(args.level)]
xml = gauger_cfg.assets.terrain_xml
xml = xml.rsplit('/', 1)[0] + f"/{gauger_cfg.assets.terrain_name}_{args.level}.xml"
gauger_cfg.assets.terrain_xml = xml
task_register = TaskRegister()