v0.1.12 add all slope levels; plot radar with bar

robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py

@@ -16,40 +16,3 @@ class FlatGaugeConfig(BaseGaugeConfig):
         terrain_name = "flat_0"  # {type}_{level}
         terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/flat.xml'
         terrain_spawn_pos = [0, 0, 0]  # x y z [m], robot freejoint spawn position on the terrain
-    
-    class goals(BaseGaugeConfig.goals):
-        class max_velocity:  # goal with maximum velocity
-            enabled = True
-            move_duration = 5.0  # [s] duration for each velocity command
-            end_stance = True  # whether to end with zero velocity command
-            standce_duration = 2.0  # [s] duration for the ending stance command
-        
-        class diagonal_velocity:  # goal with diagonal velocity changes
-            enabled = True
-            cmd_duration = 6.0  # [s] duration for a pair of diagonal velocity commands
-
-        class target_pos_velocity:  # goal to reach a target position by velocity command, config target at assets.target_pos
-            enabled = True
-            target_pos = [5, 0, 0]  # x y z [m], target position in the environment, used for target position goal
-            lin_vel_x = 1.0  # +/- m/s
-            ang_vel_yaw = 1.0  # +/- rad/s
-            max_cmd_duration = 10.0  # [s] maximum duration to reach the target position
-            reach_threshold = 0.1
-
-    class metrics(BaseGaugeConfig.metrics):
-        metric_dt = 0.1  # [s] frequency to compute metrics
-        class dof_limits:
-            enabled = True
-            soft_dof_limit_ratio = 0.9
-            dof_names = None  # List of DOF names to monitor, None for all
-        
-        class visualization:
-            enabled = True
-            dof_torque = True
-            dof_pos = True
-
-        class lin_vel_err:
-            enabled = True
-        
-        class ang_vel_err:
-            enabled = True

robogauge/tasks/gauge/gauge_configs/slope_gauge_config.py

@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : slope_gauge_config.py
+@Time    : 2025/12/21 17:02:23
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Slope Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class SlopeGaugeConfig(BaseGaugeConfig):
+    gauge_class = 'BaseGauge'
+
+    class assets(BaseGaugeConfig.assets):
+        terrain_name = "slope_5"  # {type}_{level}
+        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 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
+            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