v0.1.15; add stairs_up/down

robogauge/tasks/gauge/gauge_configs/stairs_down_gauge_config.py

@@ -0,0 +1,33 @@
+# -*- coding: utf-8 -*-
+'''
+@File    : stairs_down_gauge_config.py
+@Time    : 2025/12/25 14:12:59
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Stairs Down Gauge Configuration
+'''
+from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
+
+class StairsDownGaugeConfig(BaseGaugeConfig):
+    gauge_class = 'BaseGauge'
+
+    class assets(BaseGaugeConfig.assets):
+        terrain_name = "stairs_down"
+        terrain_level = 10  # 1-10
+        terrain_xmls = [
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/stairs_down/stairs_down_10.xml',
+            '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
+        ]
+        # NOTE: Adjusted y=3.0 to avoid rolling down just pass the target
+        terrain_spawn_pos = [1.1, 3.0, 7]  # 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 = [8.3, 0.0, 1.90]  # x y z [m], target position in the environment, used for target position goal
+            lin_vel_x = 0.8  # +/- m/s
+            lin_vel_y = 1.0  # +/- m/s
+            ang_vel_yaw = 1.5  # +/- rad/s
+            max_cmd_duration = 30.0  # [s] maximum duration to reach the target position
+            reach_threshold = 0.3