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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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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