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v0.1.15; add stairs_up/down

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wty-yy
2025-12-25 18:15:48 +08:00
parent 0dd3c10aba
commit 9d9d83ed9f
54 changed files with 1356 additions and 81 deletions
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7
robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
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@@ -15,13 +15,16 @@ class WaveGaugeConfig(BaseGaugeConfig):
class assets(BaseGaugeConfig.assets):
terrain_name = "wave"
terrain_level = 10 # 1-10
terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_10.xml'
terrain_xmls = [
'{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_10.xml',
'{ROBOGAUGE_ROOT_DIR}/resources/terrains/wall/10x10_wall.xml',
]
terrain_spawn_pos = [1.5, 1.25, 1.0] # 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 = [6.5, 0.0, 0.8] # x y z [m], target position in the environment, used for target position goal
target_pos = [6.5, -2.65, 0.8] # 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