v0.1.13 finish all goals eval (even crash)

robogauge/tasks/gauge/__init__.py

@@ -2,3 +2,4 @@ from .base_gauge import BaseGauge
 from .base_gauge_config import BaseGaugeConfig
 from .gauge_configs.flat_gauge_config import FlatGaugeConfig
 from .gauge_configs.slope_gauge_config import SlopeGaugeConfig
+from .gauge_configs.wave_gauge_config import WaveGaugeConfig

robogauge/tasks/gauge/base_gauge.py

@@ -42,7 +42,7 @@ class BaseGauge:
         self.info = {'goal': [], 'metric': []}
         self.results = {}  # {'goal/sub_goal': {'metric': result}}
 
-        log_str = "Initialized Gauge with Goals and Metrics:\n"
+        log_str = "Initialized Gauge with Goals 🎯 and Metrics 📊:\n"
         for name, kwargs in self.goals_cfg.items():
             if not kwargs['enabled']: continue
             if name == 'max_velocity':

robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py

@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : wave_gauge_config.py
+@Time    : 2025/12/22 11:02:09
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Wave Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class WaveGaugeConfig(BaseGaugeConfig):
+    gauge_class = 'BaseGauge'
+
+    class assets(BaseGaugeConfig.assets):
+        terrain_name = "wave_1"  # {type}_{level}
+        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
+    
+    class goals:
+        class target_pos_velocity:  # goal to reach a target position by velocity command
+            enabled = True
+            target_pos = [4, 0, 1.0]  # 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