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v0.1.16; Add StressPipeline

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This commit is contained in:
wty-yy
2025-12-26 14:47:39 +08:00
parent 9d9d83ed9f
commit 65490fe591
31 changed files with 318 additions and 122 deletions
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3
robogauge/tasks/gauge/base_gauge_config.py
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@@ -22,7 +22,8 @@ class BaseGaugeConfig(Config):
class goals:
class max_velocity: # goal with maximum velocity
enabled = False
cmd_duration = 5.0 # [s] duration for each velocity command
move_duration = 5.0 # [s] duration for each velocity command
stance_duration = 2.0 # [s] duration for each stance (no movement)
class diagonal_velocity: # goal with diagonal velocity changes
enabled = False

9
robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py
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@@ -14,19 +14,20 @@ class SlopeGaugeConfig(BaseGaugeConfig):
class assets(BaseGaugeConfig.assets):
terrain_name = "slope"
terrain_level = 10 # 1-10
terrain_level = 4 # 1-10
terrain_xmls = [
'{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_10.xml',
'{ROBOGAUGE_ROOT_DIR}/resources/terrains/slope/slope_4.xml',
'{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
]
terrain_spawn_pos = [0.8, 0, 1] # x y z [m], robot freejoint spawn position on the terrain
terrain_spawn_pos = [0.5, 0, 0] # x y z [m], robot freejoint spawn position on the terrain
class goals(BaseGaugeConfig.goals):
class target_pos_velocity: # goal to reach a target position by velocity command
enabled = True
target_pos = [4, 0, 2.28] # x y z [m], target position in the environment, used for target position goal
target_pos = [4.8, 0, 1.152 + 0.1] # 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
max_cmd_duration = 20.0 # [s] maximum duration to reach the target position
reach_threshold = 0.1

58
robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py
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@@ -9,7 +9,7 @@
'''
from robogauge.utils.config import Config
class TerrainLevelsConfig(Config):
class TerrainSearchLevelsConfig(Config):
class flat:
levels = [0]
targets = [[4, 0, 0]] # target positions for each level, if target goal is used
@@ -17,28 +17,28 @@ class TerrainLevelsConfig(Config):
class slope:
levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
targets = [
[4, 0, 0.588 + 0.1],
[4, 0, 0.776 + 0.1],
[4, 0, 0.964 + 0.1],
[4, 0, 1.152 + 0.1],
[4, 0, 1.340 + 0.1],
[4, 0, 1.528 + 0.1],
[4, 0, 1.716 + 0.1],
[4, 0, 1.904 + 0.1],
[4, 0, 2.092 + 0.1],
[4, 0, 2.280 + 0.1],
[4.8, 0, 0.588 + 0.1],
[4.8, 0, 0.776 + 0.1],
[4.8, 0, 0.964 + 0.1],
[4.8, 0, 1.152 + 0.1],
[4.8, 0, 1.340 + 0.1],
[4.8, 0, 1.528 + 0.1],
[4.8, 0, 1.716 + 0.1],
[4.8, 0, 1.904 + 0.1],
[4.8, 0, 2.092 + 0.1],
[4.8, 0, 2.280 + 0.1],
]
spawns = [
[0.8, 0, 0.55 - 0.037 * 9],
[0.8, 0, 0.55 - 0.037 * 8],
[0.8, 0, 0.55 - 0.037 * 7],
[0.8, 0, 0.55 - 0.037 * 6],
[0.8, 0, 0.55 - 0.037 * 5],
[0.8, 0, 0.55 - 0.037 * 4],
[0.8, 0, 0.55 - 0.037 * 3],
[0.8, 0, 0.55 - 0.037 * 2],
[0.8, 0, 0.55 - 0.037],
[0.8, 0, 0.55],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
[0.5, 0, 0],
]
class wave:
@@ -98,3 +98,19 @@ class TerrainLevelsConfig(Config):
[1.1, 3.0, 7 - 0.3],
[1.1, 3.0, 7],
]
class TerrainEvalLevelsConfig(Config):
class slope:
levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
spawns = [
[5.0, 0, 4.2 * (0.57 - 0.047 * 9)],
[5.0, 0, 4.2 * (0.57 - 0.047 * 8)],
[5.0, 0, 4.2 * (0.57 - 0.047 * 7)],
[5.0, 0, 4.2 * (0.57 - 0.047 * 6)],
[5.0, 0, 4.2 * (0.57 - 0.047 * 5)],
[5.0, 0, 4.2 * (0.57 - 0.047 * 4)],
[5.0, 0, 4.2 * (0.57 - 0.047 * 3)],
[5.0, 0, 4.2 * (0.57 - 0.047 * 2)],
[5.0, 0, 4.2 * (0.57 - 0.047)],
[5.0, 0, 4.2 * 0.57],
]