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

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wty-yy
2025-12-22 00:32:59 +08:00
parent 59522777c9
commit 989332b951
32 changed files with 503 additions and 258 deletions
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37
robogauge/tasks/gauge/gauge_configs/flat_gauge_config.py
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@@ -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